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

Anass Taoufik, Michael Defoort, Krishna Busawon, Mohamed Djemai

Research output: Contribution to journalConference articlepeer-review

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.

Original languageEnglish
Pages (from-to)199-204
Number of pages6
JournalIFAC-PapersOnLine
Volume55
Issue number6
DOIs
Publication statusPublished - 8 Jun 2022
Event11th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2022 - Pafos, Cyprus
Duration: 8 Jun 202210 Jun 2022

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