Fault-Tolerant Formation Control of Passive Multi-Agent Systems Using Energy Tanks
Résumé
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.
Domaines
Robotique [cs.RO]
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Fault-Tolerant_Formation_Control_of_Passive_Multi-Agent_Systems_Using_Energy_Tanks.pdf (742 Ko)
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