Fault tolerant predictive control for multi-agent dynamical systems: Formation reconfiguration using set-theoretic approach
No Thumbnail Available
Date
2014-12-23
External link to pdf file
https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84921359207&origin=inward
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
Abstract
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.