Networked estimation of multi-agent systems subject to faults and unreliable information
Document Type
Article
Publication Date
10-14-2014
Department
College of Engineering
Abstract
In this paper, a novel framework for networked estimation of multi-agent systems subject to presence of actuator faults is proposed. This framework is developed based on the notion of sub-observers where within a group of sub-observers each sub-observer estimates certain states that are conditioned on a given input, output, and other state information. We model the overall estimation process by a weighted estimation (WE) digraph. By selecting an appropriate path in the WE digraph, an assigned supervisor can select and configure a set of sub-observers to successfully estimate all the system states. In the presence of large intermittent disturbances, noise, and faults certain sub-observers may become invalid, and consequently the supervisor reconfigures the set of sub-observers by selecting a new path in the estimation digraph such that the impacts of these uncertainties are confined to only the local estimators. This will prevent the propagation of uncertainties on the estimation performance of the entire multi-agent system. Simulation results provided for a five satellite formation flight system in deep space confirm the validity and applicability of our proposed analytical work.
Publication Title
Asian Journal of Control
Recommended Citation
Azizi, S.,
&
Khorasani, K.
(2014).
Networked estimation of multi-agent systems subject to faults and unreliable information.
Asian Journal of Control,
17(4), 1347-1364.
http://doi.org/10.1002/asjc.1016
Retrieved from: https://digitalcommons.mtu.edu/michigantech-p/3538
Publisher's Statement
© 2014 Chinese Automatic Control Society and Wiley Publishing Asia Pty Ltd. Publisher’s version of record: https://doi.org/10.1002/asjc.1016