Distributed Adaptive Fault-Tolerant Control of Uncertain Multi-Agent Systems
Date
2015Source
IFAC-PapersOnLine9th IFAC Symposium on Fault Detection, Supervision andSafety for Technical Processes SAFEPROCESS 2015
Volume
48Pages
66-71Google Scholar check
Keyword(s):
Metadata
Show full item recordAbstract
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 reconfigurable 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 closed-loop system's stability and leader-follower consensus properties are rigorously established under different modes of the FTC system, including the time-period before possible fault detection, between fault detection and possible isolation, and after fault isolation. "