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Communication Dans Un Congrès Année : 2022

Distributed Passive Fault Tolerant Formation Tracking for Uncertain Second Order Multi-Agent Systems

Résumé

This paper deals with the problem of distributed passive fault tolerant formation tracking control for cooperative second order multi-agent systems (MASs) subject to disturbances and sensor/actuator faults. The proposed scheme is based on decentralized observers used to robustly estimate the actuator and sensor faults in spite of disturbances. These estimates are then injected into a dynamic control law in order to mitigate their effects on the control objective. Using the Hco method, graph theory properties and the projection lemma, sufficient conditions in the form of a set of linear matrix inequalities (LMIs) are derived to guarantee the stabilization of the tracking errors while reducing the effects of sensor and actuator faults and disturbances. A numerical simulation illustrates the effectiveness of the proposed passive fault-tolerant control scheme.

Dates et versions

hal-04217721 , version 1 (26-09-2023)

Identifiants

Citer

Anass Taoufik, Michael Defoort, Krishna Busawon, Mohamed Djemai. Distributed Passive Fault Tolerant Formation Tracking for Uncertain Second Order Multi-Agent Systems. SAFEPROCESS, Jun 2022, Pafos, Cyprus. pp.199-204, ⟨10.1016/j.ifacol.2022.07.129⟩. ⟨hal-04217721⟩
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