Fault Tolerant Predictive Control for Multi-Agent dynamical : formation reconfiguration using set-theoretic approach

Minh Tri Nguyen (1) , Cristina Stoica Maniu (1) , Sorin Olaru (2, 1) , Alexandra Grancharova (3)

1 E3S - Supélec Sciences des Systèmes
2 DISCO - Dynamical Interconnected Systems in COmplex Environments
3 Department "Hybrid Systems" [Sofia]

This paper deals with the task assignment problem , which is a major issue in dynamical formation control. The formation is defined in terms of a group of homogeneous dynamical agents. The position of each agent in the formation is predetermined by pre-imposing the distance between each pair of agents. Recently by using set-theoretic methods, the task assignment has been formulated in terms of an optimization problem allowing to keep the agents in a tight formation in real-time. In this paper we propose a new algorithm for the task assignment formulation in view of real-time control by including fault detection and isolation capabilities. The proposed methods will be illustrated by means of a numerical example.

Mots clés: Multi-Agent dynamical systems; Fault Detection and Isolation; set-membership theory; tight formation control

Domaines: Sciences de l'ingénieur [physics]

Minh Tri Nguyen, Cristina Stoica Maniu, Sorin Olaru, Alexandra Grancharova. Fault Tolerant Predictive Control for Multi-Agent dynamical : formation reconfiguration using set-theoretic approach. CoDIT 2014 : 2nd International Conference on Control Decision and Information Technologies, Nov 2014, Metz, France. ⟨10.1109/CoDIT.2014.6996930⟩. ⟨hal-01085018⟩