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AuthorGallehdari, Z.
AuthorMeskin, Nader
AuthorKhorasani, K.
Available date2022-04-14T08:45:44Z
Publication Date2014
Publication NameProceedings of the American Control Conference
ResourceScopus
Identifierhttp://dx.doi.org/10.1109/ACC.2014.6859162
URIhttp://hdl.handle.net/10576/29819
AbstractIn this paper, a reconfigurable control protocol for a linear multi-agent system seeking consensus in presence of actuator faults and saturations is investigated. The control protocol consists of two parts: healthy system controller and faulty system controller. The main objective of the healthy controller that is designed off-line is to determine the protocol which guarantees team consensus and minimizes the team performance index. On the other hand, the faulty system controller is designed on-line and aims at stabilizing the consensus error signals and optimizing the faulty team performance index subject to constrained input signals. Both centralized and semi-distributed architectures for control reconfiguration are developed. In the centralized scheme, the team is considered as a single unit and the central module reconfigures the entire system controllers, while in the semi-distributed approach faulty agent uses its immediate neighbours information (i.e. measurements and control gains) to reconfigure its controller. 2014 American Automatic Control Council.
SponsorQatar National Research Fund
Languageen
PublisherInstitute of Electrical and Electronics Engineers Inc.
SubjectMulti agent systems
Co-operative control
Constrained input
Control protocols
Control reconfiguration
LMIs
Reconfigurable control
System controllers
Team performance
Controllers
TitleCost performance based control reconfiguration in multi-agent systems
TypeConference Paper
Pagination509-516
dc.accessType Abstract Only


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