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EnglishThis paper presents an adaptive fault-tolerant control (FTC) scheme for a class of nonlinear uncertain second-order multi-agent systems. A local FTC component is designed for each agent in the distributed system by using local measurements and suitable information exchanged between neighboring agents. Each local FTC component consists of a fault diagnosis module and a reconfigurable controller module comprised of a baseline controller and two adaptive faulttolerant controllers activated after fault detection and after fault isolation, respectively. Under suitable assumptions, the closedloop stability and leader-follower formation properties of the distributed system are rigorously established under different operating modes of the FTC system, including the time-period before possible fault detection, between fault detection and possible isolation, and after fault isolation.
| Titolo: | Distributed Adaptive Fault-Tolerant Control of Nonlinear Uncertain Second-order Multi-agent Systems |
| Autori: | |
| Data di pubblicazione: | 2015 |
| Abstract: | This paper presents an adaptive fault-tolerant control (FTC) scheme for a class of nonlinear uncertain second-order multi-agent systems. A local FTC component is designed for each agent in the distributed system by using local measurements and suitable information exchanged between neighboring agents. Each local FTC component consists of a fault diagnosis module and a reconfigurable controller module comprised of a baseline controller and two adaptive faulttolerant controllers activated after fault detection and after fault isolation, respectively. Under suitable assumptions, the closedloop stability and leader-follower formation properties of the distributed system are rigorously established under different operating modes of the FTC system, including the time-period before possible fault detection, between fault detection and possible isolation, and after fault isolation. |
| Handle: | http://hdl.handle.net/11368/2851523 |
| ISBN: | 9781479978854 9781479978861 |
| URL: | http://ieeexplore.ieee.org/document/7402919/ |
| Appare nelle tipologie: | 4.1 Contributo in Atti Convegno (Proceeding) |
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| Khalili_Zhang_Cao_Polycarpou_Parisini_CDC2015.pdf | pdf editoriale | Documento in Versione Editoriale | Digital Rights Management non definito | Administrator Richiedi una copia |
http://hdl.handle.net/11368/2851523
