An H∞ cooperative fault recovery control of multi-agent systems

In this work, an H∞ performance fault recovery control problem for a team of multi-agent systems that is subject to actuator faults is studied. Our main objective is to design a distributed control reconfiguration strategy such that in presence of actuator faults, (a) the state consensus errors remain bounded, (b) the outputs of the faulty team behave exactly the same as that of the healthy team, and (c) the specified H∞ performance bound is guaranteed to be minimized in presence of bounded energy disturbances. The reconfigured control law gains are selected first by employing a geometric approach where a set of controllers guarantees that the output of the faulty agent imitates that of the healthy agent and that the consensus achievement objectives are satisfied. Next, the remaining degrees of freedom in selection of the control law gains are utilized to minimize the bound on a specified H∞ performance index. Finally, the effects of uncertainties and imperfections in the FDI module decision in estimating the fault severity are investigated and a bound on the maximum tolerable estimation uncertainties is obtained.