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Event-triggered fault-tolerant leader-following control for homogeneous multi-agent systems

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Abstract

In this paper, the design of an event-triggered fault-tolerant control for leader-following consensus in multi-agent systems subject to actuator faults is presented. The problem under consideration is to reduce the control update rate and to guarantee that all the agents follow the trajectories of a leader when one or all the agents are subject to actuators faults. The proposed fault-tolerant strategy is based on distributed virtual actuators without re-tuning the nominal leader-following control. Linear matrix inequalities-based conditions are synthesized to guarantee the stability of the synchronization error and estimation error. The efectiveness of the event-triggered fault-tolerant strategy is illustrated through numerical examples.

Dates and versions

hal-03698891 , version 1 (19-06-2022)

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Cite

Juan Antonio Vazquez Trejo, Mohammed Chadli, Damiano Rotondo, Manuel Adam Medina, Didier Theilliol. Event-triggered fault-tolerant leader-following control for homogeneous multi-agent systems. 11th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes, Safeprocess 2022, Jun 2022, Pafos, Cyprus. ⟨10.1016/j.ifacol.2022.07.109⟩. ⟨hal-03698891⟩
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