An H_ cooperative fault recovery control of multi-agent systems

DOI10.1016/J.AUTOMATICA.2017.07.017zbMATH Open1376.93006arXiv1508.07076OpenAlexW2963506112MaRDI QIDQ1680906FDOQ1680906

Zahra Gallehdari, Nader Meskin, K. Khorasani

Publication date: 17 November 2017

Published in: Automatica (Search for Journal in Brave)

Abstract: In this work, an $H_{infty}$ performance fault recovery control problem for a team of multi-agent systems that is subject to actuator faults is studied. Our main objective is to design a distributed control reconfiguration strategy such that extbf{a)} in absence of disturbances the state consensus errors either remain bounded or converge to zero asymptotically, extbf{b)} in presence of actuator fault the output of the faulty system behaves exactly the same as that of the healthy system, and extbf{c)} the specified $H_{infty}$ performance bound is guaranteed to be minimized in presence of bounded energy disturbances. The gains of the reconfigured control laws are selected first by employing a geometric approach where a set of controllers guarantees that the output of the faulty agent imitates that of the healthy agent and the consensus achievement objectives are satisfied. Next, the remaining degrees of freedom in the selection of the control law gains are used to minimize the bound on a specified $H_{infty}$ performance index. The effects of uncertainties and imperfections in the FDI module decision in correctly estimating the fault severity as well as delays in invoking the reconfigured control laws are investigated and a bound on the maximum tolerable estimation uncertainties and time delays are obtained. Our proposed distributed and cooperative control recovery approach is applied to a team of five autonomous underwater vehicles to demonstrate its capabilities and effectiveness in accomplishing the overall team requirements subject to various actuator faults, delays in invoking the recovery control, fault estimation and isolation imperfections and unreliabilities under different control recovery scenarios.

Full work available at URL: https://arxiv.org/abs/1508.07076

zbMATH Keywords

multi-agent systemsactuator faultsdisturbance attenuationconsensus achievementcooperative fault recovery

Mathematics Subject Classification ID

Agent technology and artificial intelligence (68T42) Decentralized systems (93A14) Estimation and detection in stochastic control theory (93E10) Geometric methods (93B27)

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Cited In (10)

• Output feedback fault-tolerant control of heterogeneous multi-agent systems
• Resilient adaptive and \(H_\infty\) controls of multi-agent systems under sensor and actuator faults
• Fault-tolerant consensus control with control allocation in a leader-following multi-agent system
• Cooperative fault estimation for a class of heterogeneous multi‐agents with stochastic nonlinearities based on finite impulse response filter
• Simultaneous actuator fault estimation and fault-tolerant tracking control for multi-agent systems: a sliding-mode observer-based approach
• Extremum seeking based fault-tolerant cooperative control for multiagent systems
• An \(H_\infty\) cooperative fault recovery control of multi-agent systems
• Stochastic fault and cyber-attack detection and consensus control in multi-agent systems
• Fault-tolerant control of nonlinear heterogeneous multi-agent systems
• Fault tolerant cooperative control for affine multi-agent systems: an optimal control approach

Uses Software

• Geometric Approach Toolbox

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