Fault-tolerant consensus for a group of double-integrator agents communicating over directed topology

Gaosheng Zhang; Jiahu Qin; Yu Kang; Wei Xing Zheng

doi:10.1109/SMC.2016.7844385

Fault-tolerant consensus for a group of double-integrator agents communicating over directed topology

Gaosheng Zhang, Jiahu Qin, Yu Kang, Wei Xing Zheng

Western Sydney University

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

1 Citation (Scopus)

Abstract

![CDATA[This paper studies the fault-tolerant consensus problem for a group of double-integrator agents with actuator faults and strongly connected topology. The proposed fault-tolerant consensus protocol is an active fault-tolerant control strategy which consists of a nominal control and an estimation of fault severity. To solve the fault-tolerant consensus problem, a Lyapuov method is employed based on the algebraic connectivity of strongly connected digraph. The results show that the consensus will be achieved if the nominal control is designed properly and the estimation of actuator fault is within a certain accuracy. Finally, a simulation example is given to demonstrate the validity of the theoretical results.]]

Original language	English
Title of host publication	Proceedings of the 2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2016), 9-12 October, 2016, Budapest, Hungary
Publisher	IEEE
Pages	1075-1080
Number of pages	6
ISBN (Print)	9781509018987
DOIs	https://doi.org/10.1109/SMC.2016.7844385
Publication status	Published - 2016
Event	IEEE International Conference on Systems_Man_and Cybernetics - Duration: 9 Oct 2016 → …

Conference

Conference	IEEE International Conference on Systems_Man_and Cybernetics
Period	9/10/16 → …

Keywords

algebra
algorithms
fault tolerance (engineering)
multiagent systems
topology

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10.1109/SMC.2016.7844385

Cite this

@inproceedings{8b37faa59bb941798e0b3219dbeb209e,

title = "Fault-tolerant consensus for a group of double-integrator agents communicating over directed topology",

abstract = "![CDATA[This paper studies the fault-tolerant consensus problem for a group of double-integrator agents with actuator faults and strongly connected topology. The proposed fault-tolerant consensus protocol is an active fault-tolerant control strategy which consists of a nominal control and an estimation of fault severity. To solve the fault-tolerant consensus problem, a Lyapuov method is employed based on the algebraic connectivity of strongly connected digraph. The results show that the consensus will be achieved if the nominal control is designed properly and the estimation of actuator fault is within a certain accuracy. Finally, a simulation example is given to demonstrate the validity of the theoretical results.]]",

keywords = "algebra, algorithms, fault tolerance (engineering), multiagent systems, topology",

author = "Gaosheng Zhang and Jiahu Qin and Yu Kang and Zheng, {Wei Xing}",

year = "2016",

doi = "10.1109/SMC.2016.7844385",

language = "English",

isbn = "9781509018987",

pages = "1075--1080",

booktitle = "Proceedings of the 2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2016), 9-12 October, 2016, Budapest, Hungary",

publisher = "IEEE",

note = "IEEE International Conference on Systems_Man_and Cybernetics ; Conference date: 09-10-2016",

}

Zhang, G, Qin, J, Kang, Y & Zheng, WX 2016, Fault-tolerant consensus for a group of double-integrator agents communicating over directed topology. in Proceedings of the 2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2016), 9-12 October, 2016, Budapest, Hungary. IEEE, pp. 1075-1080, IEEE International Conference on Systems_Man_and Cybernetics, 9/10/16. https://doi.org/10.1109/SMC.2016.7844385

Fault-tolerant consensus for a group of double-integrator agents communicating over directed topology. / Zhang, Gaosheng; Qin, Jiahu; Kang, Yu et al.
Proceedings of the 2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2016), 9-12 October, 2016, Budapest, Hungary. IEEE, 2016. p. 1075-1080.

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

TY - GEN

T1 - Fault-tolerant consensus for a group of double-integrator agents communicating over directed topology

AU - Zhang, Gaosheng

AU - Qin, Jiahu

AU - Kang, Yu

AU - Zheng, Wei Xing

PY - 2016

Y1 - 2016

N2 - ![CDATA[This paper studies the fault-tolerant consensus problem for a group of double-integrator agents with actuator faults and strongly connected topology. The proposed fault-tolerant consensus protocol is an active fault-tolerant control strategy which consists of a nominal control and an estimation of fault severity. To solve the fault-tolerant consensus problem, a Lyapuov method is employed based on the algebraic connectivity of strongly connected digraph. The results show that the consensus will be achieved if the nominal control is designed properly and the estimation of actuator fault is within a certain accuracy. Finally, a simulation example is given to demonstrate the validity of the theoretical results.]]

AB - ![CDATA[This paper studies the fault-tolerant consensus problem for a group of double-integrator agents with actuator faults and strongly connected topology. The proposed fault-tolerant consensus protocol is an active fault-tolerant control strategy which consists of a nominal control and an estimation of fault severity. To solve the fault-tolerant consensus problem, a Lyapuov method is employed based on the algebraic connectivity of strongly connected digraph. The results show that the consensus will be achieved if the nominal control is designed properly and the estimation of actuator fault is within a certain accuracy. Finally, a simulation example is given to demonstrate the validity of the theoretical results.]]

KW - algebra

KW - algorithms

KW - fault tolerance (engineering)

KW - multiagent systems

KW - topology

UR - http://handle.westernsydney.edu.au:8081/1959.7/uws:39992

U2 - 10.1109/SMC.2016.7844385

DO - 10.1109/SMC.2016.7844385

M3 - Conference Paper

SN - 9781509018987

SP - 1075

EP - 1080

BT - Proceedings of the 2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2016), 9-12 October, 2016, Budapest, Hungary

PB - IEEE

T2 - IEEE International Conference on Systems_Man_and Cybernetics

Y2 - 9 October 2016

ER -

Fault-tolerant consensus for a group of double-integrator agents communicating over directed topology

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