Fault-tolerant control of multi-agent systems based on adaptive fault hiding framework

In this paper, a fault tolerant control (FTC) scheme for multi-agent systems subject to loss of effectiveness actuator faults is investigated. The main objective of the proposed FTC approach is to keep the performance of a multi-agent system after the occurrence of actuator faults similar to the healthy one. For this purpose, an adaptive virtual actuator is designed for each agent without a need to have a separate fault detection, isolation and identification unit and it is shown that the difference between the states of each agent before and after the occurrence of actuator faults converges to zero. The proposed FTC scheme is independent of the mission of the multi-agent systems. Simulation results corresponding to a team of F-8 aircrafts demonstrate and illustrate the effectiveness of our proposed FTC scheme.

[1]  Sonia Martínez,et al.  Coverage control for mobile sensing networks , 2002, IEEE Transactions on Robotics and Automation.

[2]  Khashayar Khorasani,et al.  Fault Detection and Isolation of discrete-time Markovian jump linear systems with application to a network of multi-agent systems having imperfect communication channels , 2009, Autom..

[3]  Khashayar Khorasani,et al.  Cost performance based control reconfiguration in multi-agent systems , 2014, 2014 American Control Conference.

[4]  Jinjun Shan,et al.  Close-Formation Flight Control with Motion Synchronization , 2005 .

[5]  Lijun Liu,et al.  A general H∞ fault tolerant control and management for a linear system with actuator faults , 2012, Autom..

[6]  Khashayar Khorasani,et al.  An H∞ Cooperative Fault Recovery Control of Multi-Agent Systems , 2015, ArXiv.

[7]  Jan H. Richter,et al.  Reconfigurable Control of Nonlinear Dynamical Systems: A fault-hiding Approach , 2011 .

[8]  Elham Semsar-Kazerooni,et al.  Optimal performance of a modified leader-follower cooperative team with partial availability of the leader command and agents actuator faults , 2007, 2007 46th IEEE Conference on Decision and Control.

[9]  Guanghui Wen,et al.  Stochastic consensus in directed networks of agents with non-linear dynamics and repairable actuator failures , 2012 .

[10]  Petros A. Ioannou,et al.  Adaptive control tutorial , 2006, Advances in design and control.

[11]  Khashayar Khorasani,et al.  Robust cooperative control reconfiguration/recovery in multi-agent systems , 2014, 2014 European Control Conference (ECC).

[12]  Thomas Steffen,et al.  Control Reconfiguration of Dynamical Systems: Linear Approaches and Structural Tests , 2005 .

[13]  Jun Zhao,et al.  Cooperative Adaptive Fuzzy Tracking Control for Networked Unknown Nonlinear Multiagent Systems With Time-Varying Actuator Faults , 2014, IEEE Transactions on Fuzzy Systems.

[14]  Khashayar Khorasani,et al.  Reconfigurable control of networked nonlinear Euler-Lagrange systems subject to fault diagnostic imperfections , 2011, IEEE Conference on Decision and Control and European Control Conference.

[15]  Frank L. Lewis,et al.  Robust Adaptive Fault-Tolerant Control of Multiagent Systems With Uncertain Nonidentical Dynamics and Undetectable Actuation Failures , 2015, IEEE Transactions on Industrial Electronics.

[16]  Roy S. Smith,et al.  Closed-Loop Dynamics of Cooperative Vehicle Formations With Parallel Estimators and Communication , 2007, IEEE Transactions on Automatic Control.

[17]  Richard M. Murray,et al.  Consensus problems in networks of agents with switching topology and time-delays , 2004, IEEE Transactions on Automatic Control.

[18]  Jun Zhang,et al.  Adaptive Fault-Tolerant Tracking Control for Linear and Lipschitz Nonlinear Multi-Agent Systems , 2015, IEEE Transactions on Industrial Electronics.

[19]  Khashayar Khorasani,et al.  Optimal hybrid fault recovery in a team of unmanned aerial vehicles , 2012, Autom..

[20]  Marcel Staroswiecki,et al.  Fault tolerant cooperative control for a class of nonlinear multi-agent systems , 2011, Syst. Control. Lett..

[21]  Khashayar Khorasani,et al.  Simultaneous fault detection and consensus control design for a network of multi-agent systems , 2016, Autom..

[22]  Xiao-Zheng Jin,et al.  Robust Adaptive Sliding Mode Consensus of Multiagent Systems with Perturbed Communications and Actuators , 2013 .

[23]  Khashayar Khorasani,et al.  Fault Detection and Isolation , 2011 .

[24]  Chunhui Zhao,et al.  Distributed adaptive neural network control for a class of heterogeneous nonlinear multi-agent systems subject to actuation failures , 2017, Int. J. Syst. Sci..

[25]  K. Khorasani,et al.  Cooperative actuator fault accommodation in formation flight of unmanned vehicles using absolute measurements , 2012 .

[26]  Khashayar Khorasani,et al.  Team Consensus for a Network of Unmanned Vehicles in Presence of Actuator Faults , 2010, IEEE Transactions on Control Systems Technology.

[27]  Khashayar Khorasani,et al.  A Distributed Control Reconfiguration and Accommodation for Consensus Achievement of Multiagent Systems Subject to Actuator Faults , 2016, IEEE Transactions on Control Systems Technology.

[28]  Frank L. Lewis,et al.  Lyapunov, Adaptive, and Optimal Design Techniques for Cooperative Systems on Directed Communication Graphs , 2012, IEEE Transactions on Industrial Electronics.

[29]  Jianliang Wang,et al.  Reliable robust flight tracking control: an LMI approach , 2002, IEEE Trans. Control. Syst. Technol..

[30]  Karl Henrik Johansson,et al.  Distributed fault detection for interconnected second-order systems , 2011, Autom..

[31]  Junquan Li,et al.  Decentralized Fault-Tolerant Control for Satellite Attitude Synchronization , 2012, IEEE Transactions on Fuzzy Systems.

[32]  Nader Meskin,et al.  Fault-tolerant control of non-linear systems based on adaptive virtual actuator , 2017 .

[33]  Khashayar Khorasani,et al.  Actuator Fault Detection and Isolation for a Network of Unmanned Vehicles , 2009, IEEE Transactions on Automatic Control.

[34]  Feng Qian,et al.  Synchronization in complex networks and its application - A survey of recent advances and challenges , 2014, Annu. Rev. Control..

[35]  Yongduan Song,et al.  Fault-tolerant output synchronisation control of multi-vehicle systems , 2014 .

[36]  Khashayar Khorasani,et al.  State Synchronization of Networked Euler-Lagrange Systems with Switching Communication Topologies Subject to Actuator Faults , 2011 .

[37]  Wei Wang,et al.  Cooperative control for consensus of multi-agent systems with actuator faults , 2014, Comput. Electr. Eng..

[38]  Peng Shi,et al.  Attitude Stabilization of Spacecrafts Under Actuator Saturation and Partial Loss of Control Effectiveness , 2013, IEEE Transactions on Control Systems Technology.

[39]  Youmin Zhang,et al.  Fault tolerant control system design with explicit consideration of performance degradation , 2003 .