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Journal Articles IEEE Control Systems Letters Year : 2022

Fault-Tolerant Formation Control of Passive Multi-Agent Systems Using Energy Tanks

Abstract

This letter considers the design of a faulttolerant formation control law for multi-agent systems using energy balancing methods. Decentralized algorithms for fault diagnosis and graph topology update are proposed, and a formation reconfiguration procedure is developed based on energy tanks, which are able to guarantee that new connections among the agents can be established in a passive way. A simulation study supports and corroborates the theoretical findings.
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Dates and versions

hal-03822380 , version 1 (20-10-2022)

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Andrea Cristofaro, Gaetano Giunta, Paolo Robuffo Giordano. Fault-Tolerant Formation Control of Passive Multi-Agent Systems Using Energy Tanks. IEEE Control Systems Letters, 2022, 6, pp.2551-2556. ⟨10.1109/lcsys.2022.3169308⟩. ⟨hal-03822380⟩
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