Distributed Passive Fault Tolerant Formation Tracking for Uncertain Second Order Multi-Agent Systems. Issue 6 (2022)

• Record Type: Journal Article
• Authors: Taoufik, Anass; Defoort, Michael; Busawon, Krishna; Djemai, Mohamed
• Is Part Of: IFAC-PapersOnLine. Volume 55:Issue 6(2022)
• Page Start: 199
• Page End: 204
• Publication Date: 2022
• Subjects: Passive fault-tolerant control -- Formation tracking -- Multi-agent systems -- Actuator faults -- Sensor faults; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2022.07.129
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: 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 H co 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.