Fault-tolerant stabilisation in double-integrator networks

Author: Locatelli Arturo   Schiavoni Nicola  

Publisher: Taylor & Francis Ltd

ISSN: 1366-5820

Source: International Journal of Control, Vol.85, Iss.11, 2012-11, pp. : 1663-1670

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Abstract

This article considers a network of agents with double-integrator internal dynamics, which share pieces of information on their position states. For such a system, a fault-tolerant decentralised stabilisation problem is addressed. The goal consists in placing the closed-loop poles in the open left-half of the complex plane, even in the presence of faults of the transmitting and receiving apparatuses of one or more agents. By exploiting some previous results on fault-tolerant control, a necessary and sufficient condition for the problem to admit a solution is proved. Further, an explicit formula is given for the local regulators, which can be taken of the first-order, actually the least one. Finally, the theory is extended to networks of agents with multiple-integrator internal dynamics.