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.

Fault-Tolerant Formation Control of Passive Multi-Agent Systems Using Energy Tanks / Cristofaro, A.; Giunta, G.; Giordano, P. R.. - In: IEEE CONTROL SYSTEMS LETTERS. - ISSN 2475-1456. - 6:(2022), pp. 2551-2556. [10.1109/LCSYS.2022.3169308]

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

Cristofaro A.
Primo
Methodology
;
2022

Abstract

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.
2022
Agents-based systems; Decentralized control; Fault tolerant systems
01 Pubblicazione su rivista::01a Articolo in rivista
Fault-Tolerant Formation Control of Passive Multi-Agent Systems Using Energy Tanks / Cristofaro, A.; Giunta, G.; Giordano, P. R.. - In: IEEE CONTROL SYSTEMS LETTERS. - ISSN 2475-1456. - 6:(2022), pp. 2551-2556. [10.1109/LCSYS.2022.3169308]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1634880
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