Observer-based fault-tolerant leader-following control for multi-agent systems
| Autor: | Vazquez Trejo, Juan Antonio, Rotondo, Damiano, Adam Medina, Manuel, Theilliol, Didier |
|---|---|
| Přispěvatelé: | Centre de Recherche en Automatique de Nancy (CRAN), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL), University of Stavanger, Centro Nacional de Investigacion y Desarrollo Tecnologico (CENIDET), CENIDET, Maquin, Didier |
| Rok vydání: | 2021 |
| Předmět: |
Computer Science::Robotics
Computer Science::Multiagent Systems Fault tolerant systems [INFO.INFO-TI] Computer Science [cs]/Image Processing [eess.IV] Computer Science::Systems and Control [INFO.INFO-TI]Computer Science [cs]/Image Processing [eess.IV] Concensus control and estimation Agents and autonomous systems |
| Zdroj: | European Control Conference, ECC 2021 European Control Conference, ECC 2021, Jun 2021, Rotterdam, Netherlands |
| Popis: | International audience; This paper presents the design of an observer-based fault-tolerant control for leader-following consensus in multi-agent systems under actuator faults. The problem under consideration in this paper is to guarantee that all the agents follow the trajectories of a leader in spite of actuator faults. The proposed strategy reconfigures the leader-following nominal control preserving an acceptable consensus performance using distributed virtual actuators for each agent. Linear matrix inequalities (LMIs)-based sufficient conditions are obtained to compute the controller, observer, and virtual actuator gains which guarantee stability of the synchronization error, the estimation error, and the virtual actuator. The effectiveness of the proposed strategy is illustrated through numerical examples. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|