Fault tolerant predictive control for multi-agent dynamical systems: Formation reconfiguration using set-theoretic approach

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creativework.keywordsFault Detection and Isolation, Multi-Agent dynamical systems, Set-membership theory, Tight formation control
creativework.publisherInstitute of Electrical and Electronics Engineers Inc.en
dc.contributor.authorNguyen M.T.
dc.contributor.authorManiu C.S.
dc.contributor.authorOlaru S.
dc.contributor.authorGrancharova A.
dc.date.accessioned2024-07-10T14:27:03Z
dc.date.accessioned2024-07-10T14:48:07Z
dc.date.available2024-07-10T14:27:03Z
dc.date.available2024-07-10T14:48:07Z
dc.date.issued2014-12-23
dc.description.abstractThis 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.
dc.identifier.doi10.1109/CoDIT.2014.6996930
dc.identifier.scopusSCOPUS_ID:84921359207en
dc.identifier.urihttps://rlib.uctm.edu/handle/123456789/327
dc.language.isoen
dc.source.urihttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84921359207&origin=inward
dc.titleFault tolerant predictive control for multi-agent dynamical systems: Formation reconfiguration using set-theoretic approach
dc.typeConference Paper
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