Cooperative Fault-Tolerant Reconfigurable Control of Heterogeneous Wireless and Networked Space Robotics and Satellite Systems
Ali Reza Mehrabian, K. Khorasani · 2023
Our main objective in this paper is to design distributed cooperative synchronization and reconfigurable control for a network of heterogeneous multi-agent nonlinear space robotics and satellite systems by taking into account constraints on control inputs and actuator saturation faults. We first develop bounded distributed cooperative synchronization (or consensus seeking) controllers under output feedback controllers for cooperative synchronization of wireless and networked multi-agent systems. Our second main objective is to design reconfigurable distributed controllers in presence of actuator saturation faults. Finally, our last objective is to present a switching-based distributed control reconfiguration strategy that is utilized in case of an actuator fault or an actuator saturation constraint to accomplish cooperative control of networked multi-agent systems. Towards the above end, we introduce two classes of distributed controllers used to maintain the overall control objectives of networked multi-agent systems in absence as well as presence of actuator faults and actuator constraints. We introduce a procedure that can be employed to switch between the two distributed constrained controllers. In presence of actuator faults and actuator saturations, a switching mechanism is introduced to provide a reconfigurable controller for the wireless and networked space robotics and satellite multi-agent systems to ensure and maintain the overall mission objectives and requirements.