This note presents a discrete-time distributed fault diagnosis and accommodation scheme for homogeneous teams of cooperative autonomous agents. Each agent estimates, via a local observer, the overall state of the team; such an estimate is used to compute both the control input to the agent itself and a set of residual vectors, sensitive to faults occurring on anyone of the teammates. The occurrence of a fault in an agent is recognized by each of the teammate, even if they are not in direct communication with each other, when the corresponding residual exceeds a suitable adaptive threshold. A recovery strategy, based on the estimate of the maximum detection time, is then applied to remove the faulty agent, and to rearrange the mission. The approach is validated via numerical simulations.

Distributed Fault Detection Isolation and Accommodation for Homogeneous Networked Discrete-Time Linear Systems

MARINO, Alessandro;
2017-01-01

Abstract

This note presents a discrete-time distributed fault diagnosis and accommodation scheme for homogeneous teams of cooperative autonomous agents. Each agent estimates, via a local observer, the overall state of the team; such an estimate is used to compute both the control input to the agent itself and a set of residual vectors, sensitive to faults occurring on anyone of the teammates. The occurrence of a fault in an agent is recognized by each of the teammate, even if they are not in direct communication with each other, when the corresponding residual exceeds a suitable adaptive threshold. A recovery strategy, based on the estimate of the maximum detection time, is then applied to remove the faulty agent, and to rearrange the mission. The approach is validated via numerical simulations.
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11386/4682345
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 23
  • ???jsp.display-item.citation.isi??? 19
social impact