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Distributed real-ti...
Distributed real-time fault detection and isolation for cooperative multi-agent systems
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- Guo, Meng (författare)
- KTH,ACCESS Linnaeus Centre
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- Dimarogonas, Dimos V. (författare)
- KTH,Reglerteknik,ACCESS Linnaeus Centre
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- Johansson, Karl Henrik (författare)
- KTH,Reglerteknik,ACCESS Linnaeus Centre
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(creator_code:org_t)
- IEEE Computer Society, 2012
- 2012
- Engelska.
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Ingår i: 2012 American Control Conference (ACC). - : IEEE Computer Society. - 9781457710957 ; , s. 5270-5275
- Relaterad länk:
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https://urn.kb.se/re...
Abstract
Ämnesord
Stäng
- In this paper we propose a distributed real-time fault detection, isolation and mitigation framework for multiagent systems performing cooperative tasks. Various system models and detection schemes with respect to communication and sensing are considered. Two communication protocols for fault detection are introduced first and proved to be effective. Then a scheme based on limited relative state measurements is developed. Furthermore, we propose fault isolation and mitigation steps to guarantee the accomplishment of a global objective. All schemes are distributed in the sense that at each step of the fault detection, isolation and mitigation every agent only uses locally available information. One key feature of the framework is the significant reduction of required computational resource when compared with the fault detection and isolation schemes based on unknown input observers. Later we show that the proposed framework can be applied to the consensus and other cooperative formation problems. Several computer simulations are presented to demonstrate the efficiency of the framework.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Nyckelord
- Computational resources
- Cooperative tasks
- Detection scheme
- Fault detection and isolation schemes
- Fault isolation
- Global objective
- Key feature
- Multi agent system (MAS)
- Real time fault detection
- State measurements
- System models
- Unknown input observer
- Computer simulation
- Multi agent systems
- Fault detection
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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