dc.contributor.author | Khalili, Mohsen | en |
dc.contributor.author | Zhang, Xiaodong | en |
dc.contributor.author | Cao, Yongcan | en |
dc.contributor.author | Polycarpou, Marios M. | en |
dc.contributor.author | Parisini, Thomas | en |
dc.creator | Khalili, Mohsen | en |
dc.creator | Zhang, Xiaodong | en |
dc.creator | Cao, Yongcan | en |
dc.creator | Polycarpou, Marios M. | en |
dc.creator | Parisini, Thomas | en |
dc.date.accessioned | 2021-01-26T09:45:58Z | |
dc.date.available | 2021-01-26T09:45:58Z | |
dc.date.issued | 2018 | |
dc.identifier.issn | 1099-1239 | |
dc.identifier.uri | http://gnosis.library.ucy.ac.cy/handle/7/63485 | |
dc.description.abstract | This paper presents a distributed integrated fault diagnosis and accommodation scheme for leader-following formation control of a class of nonlinear uncertain second-order multi-agent systems. The fault model under consideration includes both process and actuator faults, which may evolve abruptly or incipiently. The time-varying leader communicates with a small subset of follower agents, and each follower agent communicates to its directly connected neighbors through a bidirectional network with possibly asymmetric weights. A local fault diagnosis and accommodation component are designed for each agent in the distributed system, which consists of a fault detection and isolation 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. By using appropriately the designed Lyapunov functions, the closed-loop stability and asymptotic convergence properties of the leader-follower formation are rigorously established under different modes of the fault-tolerant control system. | en |
dc.language.iso | en | en |
dc.source | International Journal of Robust and Nonlinear Control | en |
dc.source.uri | https://onlinelibrary.wiley.com/doi/abs/10.1002/rnc.4232 | |
dc.title | Distributed adaptive fault-tolerant leader-following formation control of nonlinear uncertain second-order multi-agent systems | en |
dc.type | info:eu-repo/semantics/article | |
dc.identifier.doi | 10.1002/rnc.4232 | |
dc.description.volume | 28 | |
dc.description.issue | 15 | |
dc.description.startingpage | 4287 | |
dc.description.endingpage | 4308 | |
dc.author.faculty | Πολυτεχνική Σχολή / Faculty of Engineering | |
dc.author.department | Τμήμα Ηλεκτρολόγων Μηχανικών και Μηχανικών Υπολογιστών / Department of Electrical and Computer Engineering | |
dc.type.uhtype | Article | en |
dc.contributor.orcid | Polycarpou, Marios M. [0000-0001-6495-9171] | |
dc.gnosis.orcid | 0000-0001-6495-9171 | |