Browsing by Author "Nguyen M.T."

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    Fault tolerant predictive control for multi-agent dynamical systems: Formation reconfiguration using set-theoretic approach
    (2014-12-23) Nguyen M.T.; Maniu C.S.; Olaru S.; Grancharova A.
    This paper deals with the task assignment problem, which represents a major issue in dynamical formation control. The formation is defined in terms of a group of homogeneous dynamical agents. The position of each agent in the formation is predetermined by pre-imposing the distance between each pair of agents. Recently by using set-theoretic methods, the task assignment has been formulated in terms of an optimization problem allowing to keep the agents in a tight formation in real-time. In this paper we revisit these results and propose a new algorithm for the task assignment formulation in view of real-time control by including fault detection and isolation capabilities. The proposed methods will be illustrated by means of a numerical example.