Fault tolerant cooperative control for affine multi-agent systems: An optimal control approach |
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| Authors: | Maziar Ebrahimi Dehshalie Mohammad B Menhaj Mehdi Karrari |
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| Institution: | Center of Excellence on Control, Department of Electrical Engineering, Amirkabir University of Technology, Tehran 15914, Iran |
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| Abstract: | The goal of this paper is to propose an optimal fault tolerant control (FTC) approach for multi-agent systems (MASs). It is assumed that the agents have identical affine dynamics. The underlying communication topology is assumed to be a directed graph. The concepts of both inverse optimality and partial stability are further employed for designing the control law fully developed in the paper. Firstly, the optimal FTC problem for linear MASs is formulated and then it is extended to MASs with affine nonlinear dynamics. To solve the Hamilton-Jacobi-Bellman (HJB) equation, an Off-policy Reinforcement Learning is used to learn the optimal control law for each agent. Finally, a couple of numerical examples are provided to demonstrate the effectiveness of the proposed scheme. |
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| Keywords: | Corresponding author |
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