Distributed Adaptive Fault-Tolerant Consensus Control of Multi-Agent Systems with Actuator Faults

Mohsen Khalili, Xiaodong Zhang, Yongcan Cao, and Jonathan A. Muse
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Full Paper
phmc_15_035.pdf232.8 KBAugust 21, 2015 - 3:23pm

This paper presents an adaptive fault-tolerant control (FTC) scheme for leader-follower consensus control of uncertain mobile agents with actuator faults. A local FTC component is designed for each agent in the distributed system by using local measurements and certain information exchanged between neighboring agents. Each local FTC component consists of a fault detection module and a reconfigurable controller module comprised of a baseline controller and an adaptive fault-tolerant controller activated after fault detection. Under certain assumptions, the closed-loop system stability and leader-follower consensus properties of the distributed system are rigorously established. A simulation example is used to illustrate the effectiveness of the FTC method.

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Submission Keywords: 
fault-tolerant control; reconfigurable control; actuator fault; diagnosis; PHM
Submission Topic Areas: 
Automated reconfiguration
Model-based methods for fault detection, diagnostics, and prognosis
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