Robust cooperative control reconfiguration/recovery in multi-agent systems

In this paper, a reconfigurable control protocol for a linear multi-agent system seeking consensus in presence of actuator faults and saturations and environmental disturbances is investigated. Two controllers, namely the healthy controller and the reconfigured controller, are proposed for the healthy system and the system with faulty agents, respectively. The healthy controller is designed off-line and guarantees that the team achieves consensus in presence of environmental disturbances. On the other hand, the reconfigured/recovered controller is designed on-line subject to constrained control signals and based on the information that the fault detection and identification (FDI) module has provided. The FDI information are assumed to be inaccurate, however the bounds on the uncertainties are assumed to be known.