相关论文: Monitoring Link Faults in Nonlinear Diffusively-co…

In this paper we consider the problem of monitoring detecting separation of agents from a base station in robotic and sensor networks. Such separation can be caused by mobility and/or failure of the agents. While separation/cut detection…

A graph theoretic framework recently has been proposed to stabilize interconnected multiagent systems in a distributed fashion, while systematically capturing the architectural aspect of cyber-physical systems with separate agent or…

This paper proposes an accurate High Impedance Fault (HIF) detection and isolation scheme in a power distribution network. The proposed schemes utilize the data available from voltage and current sensors. The technique employs multiple…

Fault tolerance is increasingly important for unmanned autonomous vehicles. For example, in a multi robot system the agents need the ability to effectively detect and tolerate internal failures in order to continue performing their tasks…

This paper addresses the problem of distributed hypothesis testing in multi-agent networks, where agents repeatedly collect local observations about an unknown state of the world, and try to collaboratively detect the true state through…

A MIMO Multi-hop Control Network (MCN) consists of a MIMO LTI system where the communication between sensors, actuators and computational units is supported by a (wireless) multi-hop communication network, and data flow is performed using…

In multi-agent systems, strong connectivity of the communication network is often crucial for establishing consensus protocols, which underpin numerous applications in decision-making and distributed optimization. However, this connectivity…

In this work, we consider the consensus problem in which legitimate agents share their values over an undirected communication network in the presence of malicious or faulty agents. Different from the previous works, we characterize the…

This paper presents a sound and complete fault detection approach for cyber-physical systems represented by hidden-mode switched affine models with time varying parametric uncertainty. The fault detection approach builds upon techniques…

This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…

This work deals with the output consensus problem for multiagent systems over balanced digraphs by passivity analysis. As the standard diffusive coupling structure only models the undirected interconnection, we propose a general approach…

This paper presents a novel observer-based approach to detect and isolate faulty sensors in nonlinear systems. The proposed sensor fault detection and isolation (s-FDI) method applies to a general class of nonlinear systems. Our focus is on…

The theory of network identification, namely identifying the (weighted) interaction topology among a known number of agents, has been widely developed for linear agents. However, the theory for nonlinear agents using probing inputs is far…

To perform cooperative tasks in a decentralized manner, multi-robot systems are often required to communicate with each other. Therefore, maintaining the communication graph connectivity is a fundamental issue when roaming a territory with…

Online transmission line outage detection over the entire network enables timely corrective action to be taken, which prevents a local event from cascading into a large scale blackout. Line outage detection aims to detect an outage as soon…

Connectivity is one of the most fundamental properties of wireless multi-hop networks. A network is said to be connected if there is a path between any pair of nodes. A convenient way to study the connectivity of a random network is by…

This paper addresses a formation tracking problem for nonlinear multi-agent systems with time-varying actuator faults, in which only a subset of agents has access to the leader's information over the directed leader-follower network with a…

In this paper, we investigate distributed multi-agent tracking of a convex set specified by multiple moving leaders with unmeasurable velocities. Various jointly-connected interaction topologies of the follower agents with uncertainties are…

This paper presents the design of a diagnosis system for the detection, identification and reconstruction of faults in pipelines. The design of such diagnosis system is based on redundant relations and nonlinear observers, taking into…

This paper proposes a distributed cyber-attack detection method in communication channels for a class of discrete, nonlinear, heterogeneous, multi-agent systems that are controlled by our proposed formation-based controller. A…