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2022, IEEE CONTROL SYSTEMS LETTERS, Pages 2551-2556 (volume: 6)

Fault-Tolerant Formation Control of Passive Multi-Agent Systems Using Energy Tanks (01a Articolo in rivista)

Cristofaro A., Giunta G., Giordano P. R.

This letter considers the design of a fault-tolerant formation control law for multi-agent systems using energy balancing methods. Decentralized algorithms for fault diagnosis and graph topology update are proposed, and a formation reconfiguration procedure is developed based on energy tanks, which are able to guarantee that new connections among the agents can be established in a passive way. A simulation study supports and corroborates the theoretical findings.
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