Reconfigurable Synchronization Control of Networked Euler‐Lagrange Systems with Switching Communication Topologies

In this paper, a methodology is proposed for the design of reconfigurable control of networked heterogeneous Euler-Lagrange systems subject to actuator faults. It is assumed that the underlying communication network topology is switching. We consider two types of actuator faults, namely: (i) additive, and (ii) loss of effectiveness. By modifying the originally designed “nominal” control algorithm developed for state synchronization of the healthy system, two reconfigurable control algorithms are developed for ensuring state synchronization in the presence of faults. Extensions of these results to velocity synchronization of networked Euler-Lagrange systems subject to two actuator faults are also provided. It is shown that state and velocity synchronization can be achieved for switchings among a family of connected communication topologies as well as for switchings among nominal controllers to reconfigured controllers and vice versa. Simulation results for a network of surface marine vehicles demonstrate the effectiveness and capabilities of our proposed reconfigurable control algorithms.

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