Two fault-tolerant control problems for multiple-integrators networks

The paper considers a network of agents with multiple-integrator internal dynamics, which share partial information on their states according to an arbitrary topology. For this system, two control problems are addressed and solved. The first consists in assigning the dominant closed-loop poles. The second consists in achieving a specified consensus with arbitrarily fast dynamics. In both cases, the regulator is required to be decentralized and the controlled network has to result tolerant with respect to faults in the communication apparatuses of the agents

Fault-tolerant Consensus in Integrator Networks with Assignment of Agreement Law and Dynamics

The paper deals with a particular consensus problem stated for networks where the agents are identical single or double integrators, which share a partial information on their states according to a given topology. The further assumption is made that faults may occur in the communication apparatuses of the agents. Moreover, it is required that the agreement laws and the dominant dynamics on the consensus manifolds are arbitrarily prespecified and are not to be affected by the faults. For this problem, explicit solutions are given in terms of highgain regulators