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Reconfigurable Synchronization Control of Networked E uler‐ L agrange Systems with Switching Communication Topologies
Author(s) -
Mehrabian A. R.,
Khorasani K.,
Tafazoli S.
Publication year - 2014
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.734
Subject(s) - synchronization (alternating current) , network topology , actuator , control theory (sociology) , state (computer science) , topology (electrical circuits) , telecommunications network , computer science , control (management) , engineering , control engineering , distributed computing , computer network , algorithm , artificial intelligence , electrical engineering
In this paper, a methodology is proposed for the design of reconfigurable control of networked heterogeneous E uler‐ L agrange systems subject to actuator faults. It is assumed that the underlying communication network topology is switching. We consider two types of actuator faults, namely: (i) additive, and (ii) loss of effectiveness. By modifying the originally designed “nominal” control algorithm developed for state synchronization of the healthy system, two reconfigurable control algorithms are developed for ensuring state synchronization in the presence of faults. Extensions of these results to velocity synchronization of networked E uler‐ Lagrange systems subject to two actuator faults are also provided. It is shown that state and velocity synchronization can be achieved for switchings among a family of connected communication topologies as well as for switchings among nominal controllers to reconfigured controllers and vice versa. Simulation results for a network of surface marine vehicles demonstrate the effectiveness and capabilities of our proposed reconfigurable control algorithms.