Passivity based fault tolerant quantized control for coordination

In this paper, we focus on the security aspect of the coordination control under fault due to attacks. Passivity based fault tolerant control for coordination using two types of quantizers is investigated. Firstly, a fault tolerant coordination scheme with logarithmic quantizers is designed using passivity property. As it is known, the quantization function is discontinuous, hence, nonsmooth analysis is used in this paper. We proved that with logarithmic quantizers, under undirected connected graph, the fault tolerant coordination scheme can be designed which makes the convergence set of the system goes to the origin. Furthermore, another fault tolerant coordination scheme is constructed by using uniform quantizers which makes the convergence set to go to a bounded set. Finally, a physical vehicle coordination failure tolerant control is considered in the simulation part to illustrate the effectiveness of the theoretical analysis.