Fault-tolerant stabilisation in double-integrator networks
Arturo Locatelli, Ν. Schiavoni · International Journal of Control · 2012
This article considers a network of agents with double-integrator internal dynamics, which share pieces of information on their position states. For such a system, a fault-tolerant decentralised stabilisation problem is addressed. The goal consists in placing the closed-loop poles in the open left-half of the complex plane, even in the presence of faults of the transmitting and receiving apparatuses of one or more agents. By exploiting some previous results on fault-tolerant control, a necessary and sufficient condition for the problem to admit a solution is proved. Further, an explicit formula is given for the local regulators, which can be taken of the first-order, actually the least one. Finally, the theory is extended to networks of agents with multiple-integrator internal dynamics.