Networked Estimation of Multi-Agent Systems Subject to Faults and Unreliable Information

被引:11
作者
Azizi, S. M. [1 ,2 ]
Khorasani, K. [1 ]
机构
[1] Concordia Univ, Dept Elect & Comp Engn, Montreal, PQ H3G 1M8, Canada
[2] Michigan Technol Univ, Sch Technol, Houghton, MI 49931 USA
基金
加拿大自然科学与工程研究理事会;
关键词
Networked and distributed estimation and observations; multi-agent systems; faults & anomalies & unreliabilities in sensors and system components; reconfigurable sub-observers; FORMATION FLYING SATELLITES; HIERARCHICAL ARCHITECTURE; KALMAN CONSENSUS; FORMATION FLIGHT; ACCOMMODATION; VEHICLES; DESIGN;
D O I
10.1002/asjc.1016
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
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.
引用
收藏
页码:1347 / 1364
页数:18
相关论文
共 36 条
[1]   An unbiased Kalman consensus algorithm [J].
Alighanbari, Mehdi ;
How, Jonathan P. .
2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12, 2006, 1-12 :3519-3524
[2]  
[Anonymous], 2018, PROC AIAA GUID NAVIG
[3]   Multi-agent methodology for distributed and cooperative supervisory estimation subject to unreliable information [J].
Azizi, M. ;
Tousi, M. M. ;
Khorasani, K. .
IET CONTROL THEORY AND APPLICATIONS, 2011, 5 (04) :606-621
[4]   Networked Estimation of Relative Sensing Multiagent Systems Using Reconfigurable Sets of Subobservers [J].
Azizi, S. M. ;
Khorasani, K. .
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2014, 22 (06) :2188-2204
[5]   Cooperative actuator fault accommodation in formation flight of unmanned vehicles using absolute measurements [J].
Azizi, S. M. ;
Khorasani, K. .
IET CONTROL THEORY AND APPLICATIONS, 2012, 6 (18) :2805-2819
[6]   A Hierarchical Architecture for Cooperative Actuator Fault Estimation and Accommodation of Formation Flying Satellites in Deep Space [J].
Azizi, S. M. ;
Khorasani, K. .
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 2012, 48 (02) :1428-1450
[7]   Cooperative actuator fault accommodation in formation flight of unmanned vehicles using relative measurements [J].
Azizi, S. M. ;
Khorasani, K. .
INTERNATIONAL JOURNAL OF CONTROL, 2011, 84 (05) :876-894
[8]   Cooperative Actuator Fault Accommodation of Formation Flying Vehicles with Absolute Measurements [J].
Azizi, S. M. ;
Khorasani, K. .
49TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2010, :6299-6304
[9]   A Hierarchical Architecture for Cooperative Fault Accommodation of Formation Flying Satellites in Deep Space [J].
Azizi, S. M. ;
Khorasani, K. .
2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9, 2009, :4178-4183
[10]  
Bar-Shalom Y., 2004, Estimation with Applications to Tracking and Navigation: Theory Algorithms and Software