Fault-Tolerant Formation Control of Passive Multi-Agent Systems Using Energy Tanks
Andrea Cristofaro, Gaetano Giunta, Paolo Robuffo Giordano · IEEE Control Systems Letters · 2022
This letter considers the design of a fault-tolerant formation control law for multi-agent systems using energy balancing methods. Decentralized algorithms for fault diagnosis and graph topology update are proposed, and a formation reconfiguration procedure is developed based on energy tanks, which are able to guarantee that new connections among the agents can be established in a passive way. A simulation study supports and corroborates the theoretical findings.