Distributed fault tolerant control and estimation for leader-follower consensus of multi-agent systems with actuator faults

Sepehr Khodabandeh; Hamed Kharrati Shishavan; Farzad Hashemzadeh

doi:10.1109/KBEI.2017.8324920

Distributed fault tolerant control and estimation for leader-follower consensus of multi-agent systems with actuator faults

Sepehr Khodabandeh, Hamed Kharrati Shishavan, Farzad Hashemzadeh

University of Tabriz

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

Leader-follower consensus tracking problem in multi-agent systems in the presence of some types of faults named actuator faults are considered in this paper. Distributed control theory has been used to develop control strategy and main challenge of this paper is to design fault tolerant control (FTC) system based on fault estimation to minimize the effects of the actuator faults. For this issue, an appropriate luenberger type fault detection filter is used to detect the occurance of the fault. Fault estimations are obtained by recursive least square (RLS) method and using virtual actuator technique, the effects of faults are minimized and it is shown that the tracking error of each agent converges to zero in fault-free case and the tracking error remains bounded in faulty case. The effectiveness of our method has been verified through simulations.

Original language	English
Title of host publication	2017 IEEE 4th International Conference on Knowledge-Based Engineering and Innovation, KBEI 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	872-877
Number of pages	6
ISBN (Electronic)	9781538626405
DOIs	https://doi.org/10.1109/KBEI.2017.8324920
Publication status	Published - 2 Jul 2017
Externally published	Yes
Event	4th IEEE International Conference on Knowledge-Based Engineering and Innovation, KBEI 2017 - Tehran, Iran, Islamic Republic of Duration: 22 Dec 2017 → …

Publication series

Name	2017 IEEE 4th International Conference on Knowledge-Based Engineering and Innovation, KBEI 2017
Volume	2018-January

Conference

Conference	4th IEEE International Conference on Knowledge-Based Engineering and Innovation, KBEI 2017
Country/Territory	Iran, Islamic Republic of
City	Tehran
Period	22/12/17 → …

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

Actuator Faults
Distributed Control
Leader-Follower Consensus
Multi-Agent Systems

Access to Document

10.1109/KBEI.2017.8324920

Cite this

Khodabandeh, S., Shishavan, H. K., & Hashemzadeh, F. (2017). Distributed fault tolerant control and estimation for leader-follower consensus of multi-agent systems with actuator faults. In 2017 IEEE 4th International Conference on Knowledge-Based Engineering and Innovation, KBEI 2017 (pp. 872-877). (2017 IEEE 4th International Conference on Knowledge-Based Engineering and Innovation, KBEI 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/KBEI.2017.8324920

Khodabandeh, Sepehr ; Shishavan, Hamed Kharrati ; Hashemzadeh, Farzad. / Distributed fault tolerant control and estimation for leader-follower consensus of multi-agent systems with actuator faults. 2017 IEEE 4th International Conference on Knowledge-Based Engineering and Innovation, KBEI 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 872-877 (2017 IEEE 4th International Conference on Knowledge-Based Engineering and Innovation, KBEI 2017).

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abstract = "Leader-follower consensus tracking problem in multi-agent systems in the presence of some types of faults named actuator faults are considered in this paper. Distributed control theory has been used to develop control strategy and main challenge of this paper is to design fault tolerant control (FTC) system based on fault estimation to minimize the effects of the actuator faults. For this issue, an appropriate luenberger type fault detection filter is used to detect the occurance of the fault. Fault estimations are obtained by recursive least square (RLS) method and using virtual actuator technique, the effects of faults are minimized and it is shown that the tracking error of each agent converges to zero in fault-free case and the tracking error remains bounded in faulty case. The effectiveness of our method has been verified through simulations.",

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Khodabandeh, S, Shishavan, HK & Hashemzadeh, F 2017, Distributed fault tolerant control and estimation for leader-follower consensus of multi-agent systems with actuator faults. in 2017 IEEE 4th International Conference on Knowledge-Based Engineering and Innovation, KBEI 2017. 2017 IEEE 4th International Conference on Knowledge-Based Engineering and Innovation, KBEI 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 872-877, 4th IEEE International Conference on Knowledge-Based Engineering and Innovation, KBEI 2017, Tehran, Iran, Islamic Republic of, 22/12/17. https://doi.org/10.1109/KBEI.2017.8324920

Distributed fault tolerant control and estimation for leader-follower consensus of multi-agent systems with actuator faults. / Khodabandeh, Sepehr; Shishavan, Hamed Kharrati; Hashemzadeh, Farzad.
2017 IEEE 4th International Conference on Knowledge-Based Engineering and Innovation, KBEI 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 872-877 (2017 IEEE 4th International Conference on Knowledge-Based Engineering and Innovation, KBEI 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - Leader-follower consensus tracking problem in multi-agent systems in the presence of some types of faults named actuator faults are considered in this paper. Distributed control theory has been used to develop control strategy and main challenge of this paper is to design fault tolerant control (FTC) system based on fault estimation to minimize the effects of the actuator faults. For this issue, an appropriate luenberger type fault detection filter is used to detect the occurance of the fault. Fault estimations are obtained by recursive least square (RLS) method and using virtual actuator technique, the effects of faults are minimized and it is shown that the tracking error of each agent converges to zero in fault-free case and the tracking error remains bounded in faulty case. The effectiveness of our method has been verified through simulations.

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Khodabandeh S, Shishavan HK, Hashemzadeh F. Distributed fault tolerant control and estimation for leader-follower consensus of multi-agent systems with actuator faults. In 2017 IEEE 4th International Conference on Knowledge-Based Engineering and Innovation, KBEI 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 872-877. (2017 IEEE 4th International Conference on Knowledge-Based Engineering and Innovation, KBEI 2017). doi: 10.1109/KBEI.2017.8324920

Distributed fault tolerant control and estimation for leader-follower consensus of multi-agent systems with actuator faults

Abstract

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Bibliographical note

Keywords

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