Fault Detection and Isolation in Linear Heterogeneous Multi-Agent Networks

被引：1
|
作者：
Nagel, Leon [1 ]
Galeazzi, Roberto [1 ]
Wisniewski, Rafal [2 ]
Blanke, Mogens [1 ,3 ]
机构：
[1] Tech Univ Denmark, DTU Elect Engn, Lyngby, Denmark
[2] Aalborg Univ, Dept Elect Syst, Aalborg, Denmark
[3] Norwegian Univ Sci & Technol, Ctr Autonomous Marine Operat & Syst, Trondheim, Norway
来源：
IFAC PAPERSONLINE | 2018年 / 51卷 / 24期
关键词：
Multi-agent systems; Detectability; Isolability; Linear heterogeneous systems; UNMANNED VEHICLES; TEAM CONSENSUS; ACTUATOR;
D O I：
10.1016/j.ifacol.2018.09.664
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Detection and isolation of faulty behaviours in multi-agent dynamical networks under cooperative control laws is of paramount importance to secure that the network operation is not jeopardized by the failing of one or more of its nodes. The paper investigates under which conditions the fault detectability and isolability (FDI) properties of the individual agent are improved because of the information sharing with other agents in the network. Relying on the parity space method and focusing the analysis on linear heterogeneous dynamical systems two main contributions are achieved: (i) the sharing of information through the cooperative control law does not improve the FDI properties of the individual agents; (ii) the presence of relative measurements among the agents results in improved fault detection and isolation capabilities the multi-agent system under the assumption of a strongly connected network. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：784 / 789
页数：6
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