Fault-Tolerant Formation Control of Passive Multi-Agent Systems Using Energy Tanks

被引：5
|
作者：
Cristofaro, Andrea [1 ]
Giunta, Gaetano [1 ]
Giordano, Paolo Robuffo [2 ]
机构：
[1] Sapienza Univ Rome, Dept Comp Control & Management Engn, I-00185 Rome, Italy
[2] Univ Rennes, IRISA, INRIA, CNRS, Campus Beaulieu, F-35042 Rennes, France
来源：
IEEE CONTROL SYSTEMS LETTERS | 2022年 / 6卷
关键词：
Observers; Network topology; Fault tolerant systems; Topology; Task analysis; Stability analysis; Multi-agent systems; Agents-based systems; fault tolerant systems; decentralized control; DESIGN;
D O I：
10.1109/LCSYS.2022.3169308
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This letter considers the design of a fault-tolerant formation control law for multi-agent systems using energy balancing methods. Decentralized algorithms for fault diagnosis and graph topology update are proposed, and a formation reconfiguration procedure is developed based on energy tanks, which are able to guarantee that new connections among the agents can be established in a passive way. A simulation study supports and corroborates the theoretical findings.
引用
收藏
页码：2551 / 2556
页数：6
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