Related Experiment Video
Updated: Feb 28, 2026
11:53
The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
12.3K
Distributed reconfigurable control strategies for switching topology networked multi-agent systems
Z Gallehdari1, N Meskin2, K Khorasani3
1Department of Electrical and Computer Engineering, Concordia University, Montreal, Quebec, Canada.
ISA Transactions
|June 21, 2017
Summary
This study presents distributed control reconfiguration for multi-agent systems facing actuator faults and unreliable fault detection. The strategies ensure consensus and bounded team performance despite uncertainties.
Area of Science:
- Control Systems Engineering
- Robotics
- Networked Systems
Background:
- Multi-agent systems (MAS) are susceptible to actuator faults.
- Fault detection and isolation (FDI) modules can provide unreliable fault severity estimations.
- Maintaining system performance and consensus under fault conditions is challenging.
Purpose of the Study:
- To develop distributed control reconfiguration strategies for MAS with directed switching topologies.
- To address actuator faults (loss of effectiveness, outage, stuck) under uncertain FDI information.
- To ensure consensus and bounded team performance during fault recovery.
Main Methods:
- Utilized quadratic and convex hull (composite) Lyapunov functions.
- Designed two cooperative and distributed recovery strategies for control gain selection.
- Investigated directed switching topology networked multi-agent systems.
Main Results:
- Successfully developed and validated distributed control reconfiguration strategies.
- Demonstrated compensation for simultaneous actuator faults in autonomous underwater vehicles (AUVs).
- Showcased effectiveness despite uncertainties and unreliabilities in fault diagnosis modules.
Conclusions:
- The proposed distributed reconfiguration control laws effectively manage actuator faults in MAS.
- The strategies ensure system consensus and performance bounds under challenging fault conditions.
- The methods are applicable to complex systems like networked AUVs with switching topologies.
Related Concept Videos
01:22Controller Configurations
410
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
410
01:25Distribution Reliability and Automation
542
Distribution reliability in electrical power systems is critical for ensuring an uninterrupted power supply to consumers at minimal cost. According to IEEE Standard Terms, reliability is the probability that a device will function without failure over a specified time period or amount of usage. For electric power distribution, this translates to maintaining continuous power supply and addressing customer concerns over power outages. Several indices, as defined by IEEE Standard 1366-2012, are...
542
01:34Woodward–Hoffmann Selection Rules and Microscopic Reversibility
4.1K
Electrocyclic reactions, cycloadditions, and sigmatropic rearrangements are concerted pericyclic reactions that proceed via a cyclic transition state. These reactions are stereospecific and regioselective. The stereochemistry of the products depends on the symmetry characteristics of the interacting orbitals and the reaction conditions. Accordingly, pericyclic reactions are classified as either symmetry-allowed or symmetry-forbidden. Woodward and Hoffmann presented the selection criteria for...
4.1K
01:26Feedback control systems
746
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
746
01:17Open and closed-loop control systems
1.8K
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
1.8K
01:21Distributed Loads: Problem Solving
1.2K
Beams are structural elements commonly employed in engineering applications requiring different load-carrying capacities. The first step in analyzing a beam under a distributed load is to simplify the problem by dividing the load into smaller regions, which allows one to consider each region separately and calculate the magnitude of the equivalent resultant load acting on each portion of the beam. The magnitude of the equivalent resultant load for each region can be determined by calculating...
1.2K