This paper presents an adaptive fault-tolerant control (FTC) scheme for a class of nonlinear uncertain multi-agent systems. A local FTC scheme is designed for each agent using local measurements and suitable information exchanged between neighboring agents. Each local FTC scheme consists of a fault diagnosis module and a recongurable controller module comprised of a baseline controller and two adaptive fault-tolerant controllers activated after fault detection and after fault isolation, respectively. Under certain assumptions, the closedloop system's stability and leader-follower consensus properties are rigorously established under dierent modes of the FTC system, including the time-period before possible fault detection, between fault detection and possible isolation, and after fault isolation

Distributed Adaptive Fault-Tolerant Control of Uncertain Multi-Agent Systems

PARISINI, Thomas;
2015

Abstract

This paper presents an adaptive fault-tolerant control (FTC) scheme for a class of nonlinear uncertain multi-agent systems. A local FTC scheme is designed for each agent using local measurements and suitable information exchanged between neighboring agents. Each local FTC scheme consists of a fault diagnosis module and a recongurable controller module comprised of a baseline controller and two adaptive fault-tolerant controllers activated after fault detection and after fault isolation, respectively. Under certain assumptions, the closedloop system's stability and leader-follower consensus properties are rigorously established under dierent modes of the FTC system, including the time-period before possible fault detection, between fault detection and possible isolation, and after fault isolation
http://www.sciencedirect.com/science/journal/24058963/48/21
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11368/2847822
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