Taoufik, Anass, Defoort, Michael, Busawon, Krishna and Djemai, Mohamed (2022) Distributed Passive Fault Tolerant Formation Tracking for Uncertain Second Order Multi-Agent Systems. IFAC-PapersOnLine, 55 (6). pp. 199-204. ISSN 2405-8963
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Abstract
This paper deals with the problem of distributed passive fault tolerant formation tracking control for cooperative second order multi-agent systems (MASs) subject to disturbances and sensor/actuator faults. The proposed scheme is based on decentralized observers used to robustly estimate the actuator and sensor faults in spite of disturbances. These estimates are then injected into a dynamic control law in order to mitigate their effects on the control objective. Using the Hcomethod, graph theory properties and the projection lemma, sufficient conditions in the form of a set of linear matrix inequalities (LMIs) are derived to guarantee the stabilization of the tracking errors while reducing the effects of sensor and actuator faults and disturbances. A numerical simulation illustrates the effectiveness of the proposed passive fault-tolerant control scheme.
| Item Type: | Article |
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| Additional Information: | Funding information: This study was funded by the ANR and Region Hauts-de- France under project I2RM. 11th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2022; Pafos, Cyprus; 8-10 Jun 2022 |
| Uncontrolled Keywords: | Passive fault-tolerant control, Formation tracking, Multi-agent systems, Actuator faultsSensor faults |
| Subjects: | H300 Mechanical Engineering |
| Department: | Faculties > Engineering and Environment > Mechanical and Construction Engineering |
| Depositing User: | John Coen |
| Date Deposited: | 14 Sep 2022 13:57 |
| Last Modified: | 14 Sep 2022 14:00 |
| URI: | https://nrl.northumbria.ac.uk/id/eprint/50128 |
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