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.| File | Dimensione | Formato | |
|---|---|---|---|
|
Cristofaro_preprint_Fault-Tolerant_2022.pdf
accesso aperto
Note: DOI: 10.1109/LCSYS.2022.3169308
Tipologia:
Documento in Pre-print (manoscritto inviato all'editore, precedente alla peer review)
Licenza:
Creative commons
Dimensione
536.35 kB
Formato
Adobe PDF
|
536.35 kB | Adobe PDF | |
|
Cristofaro_Fault-Tolerant_2022.pdf
solo gestori archivio
Tipologia:
Versione editoriale (versione pubblicata con il layout dell'editore)
Licenza:
Tutti i diritti riservati (All rights reserved)
Dimensione
744.16 kB
Formato
Adobe PDF
|
744.16 kB | Adobe PDF | Contatta l'autore |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
