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Distributed real-time fault detection and isolation for cooperative multi-agent systems
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-4562-854X
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2012 (English)In: 2012 American Control Conference (ACC), IEEE Computer Society, 2012, 5270-5275 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
IEEE Computer Society, 2012. 5270-5275 p.
Series
Proceedings of the American Control Conference, ISSN 0743-1619
Keyword [en]
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
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-108022ISI: 000310776205095Scopus ID: 2-s2.0-84869459775ISBN: 978-145771095-7 (print)OAI: oai:DiVA.org:kth-108022DiVA: diva2:580178
Conference
2012 American Control Conference, ACC 2012, 27 June 2012 through 29 June 2012, Montreal, QC
Funder
ICT - The Next Generation
Note

QC 20121221

Available from: 2012-12-21 Created: 2012-12-19 Last updated: 2013-06-24Bibliographically approved

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Guo, MengDimarogonas, Dimos V.Johansson, Karl Henrik

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