State Synchronization of Networked Euler-Lagrange Systems with Switching Communication Topologies Subject to Actuator Faults

Abstract Reconfigurable control of networked heterogeneous Euler-Lagrange (EL) systems subject to actuator faults is considered in this paper. It is assumed that the communication network is time-varying (switching). We first introduce a distributed control strategy for state synchronization of multiple EL systems. This controller is denoted as the “nominal” controller. To guarantee state synchronization of the switching communication network topologies we require existence of a non-vanishing dwell-time between any two sequential switches. Next, we consider two types of actuator faults namely (1) an additive actuator fault, and (2) a loss of effectiveness actuator fault. By employing the nominal control algorithm developed for state synchronization, we introduce two other control algorithms for state synchronization in presence of the faults. Simulation results illustrate and demonstrate the effectiveness of our proposed control algorithms.

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