شماره ركورد كنفرانس :
3208
عنوان مقاله :
Fault tolerant control in multi-agent systems subject to actuator fault
پديدآورندگان :
Eslami, Mohammad (Electrical Engineering Department Amirkabir University of Technology (Tehran Polytechnic , Menhaj, Mohammad B (Electrical Engineering Department Amirkabir University of Technology (Tehran Polytechnic , Danaee, Hossein (Electrical Engineering Department Amirkabir University of Technology (Tehran Polytechnic
كليدواژه :
recursive least square , actuator fault , nonholonomic systems , multi-agent systems , fault tolerant control , model predictive control
عنوان كنفرانس :
چهارمين كنفرانس بين المللي كنترل، ابزار دقيق و اتوماسيون
چكيده لاتين :
In this paper, fault tolerant control in multi-agent
systems subject to actuator faults is addressed. The proposed
method is based on an online estimator (Recursive Least square)
and model predictive control. According to online method
proposed, when a fault occurs, controller will be modified online
to achieve control objects. Also, adding disturbance rejection has
improved the controller’s ability to deal with LIP fault. This
method is used for a class of nonlinear systems named nonholonomic
systems and formation control in presence of actuator
fault in this system is investigated. Simulation results show the
accuracy and efficiency of the proposed method.
