Distributed Passive Fault Tolerant Formation Tracking for Uncertain Second Order Multi-Agent Systems

Anass Taoufik; Michael Defoort; Krishna Busawon; Mohamed Djemai

doi:10.1016/j.ifacol.2022.07.129

Distributed Passive Fault Tolerant Formation Tracking for Uncertain Second Order Multi-Agent Systems

Anass Taoufik, Michael Defoort, Krishna Busawon, Mohamed Djemai

Mechanical and Construction Engineering Department

Research output: Contribution to journal › Conference article › peer-review

1 Citation (Scopus)

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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 H_comethod, 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.

Original language	English
Pages (from-to)	199-204
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	55
Issue number	6
DOIs	https://doi.org/10.1016/j.ifacol.2022.07.129
Publication status	Published - 8 Jun 2022
Event	11th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2022 - Pafos, Cyprus Duration: 8 Jun 2022 → 10 Jun 2022

Keywords

Actuator faults
Formation tracking
Multi-agent systems
Passive fault-tolerant control
Sensor faults

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10.1016/j.ifacol.2022.07.129Licence: CC BY-NC-ND

1-s2.0-S2405896322005146-mainFinal published version, 764 KBLicence: CC BY-NC-ND

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title = "Distributed Passive Fault Tolerant Formation Tracking for Uncertain Second Order Multi-Agent Systems",

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.",

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author = "Anass Taoufik and Michael Defoort and Krishna Busawon and Mohamed Djemai",

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AU - Taoufik, Anass

AU - Defoort, Michael

AU - Busawon, Krishna

AU - Djemai, Mohamed

N1 - Funding information: This study was funded by the ANR and Region Hauts-de- France under project I2RM.

PY - 2022/6/8

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N2 - 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.

AB - 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.

KW - Actuator faults

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KW - Multi-agent systems

KW - Passive fault-tolerant control

KW - Sensor faults

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ER -

Distributed Passive Fault Tolerant Formation Tracking for Uncertain Second Order Multi-Agent Systems

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Keywords

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