Distributed sensor and actuator reconfiguration for fault-tolerant networked control systems

Herdeiro Teixeira, A.M.; Araujo, Jose; Sandberg, Henrik; Johansson, Karl H.

doi:10.1109/TCNS.2017.2732158

Distributed sensor and actuator reconfiguration for fault-tolerant networked control systems

Journal article (2017)

Authors

A.M. Herdeiro Teixeira

Jose Araujo Ericsson

Henrik Sandberg KTH Royal Institute of Technology

Karl H. Johansson KTH Royal Institute of Technology

DOI: https://doi.org/10.1109/TCNS.2017.2732158

Redundancy Actuators Computational modeling Estimation error Networked control systems

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Published Date

2017

Language

English

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Abstract

In this paper, we address the problem of distributed reconfiguration of networked control systems upon the removal of misbehaving sensors and actuators. In particular, we consider systems with redundant sensors and actuators cooperating to recover from faults. Reconfiguration is performed while minimizing a steady-state estimation error covariance and a quadratic control cost. A model-matching condition is imposed on the reconfiguration scheme. It is shown that the reconfiguration and its underlying computation can be distributed. Using an average dwell-time approach, the stability of the distributed reconfiguration scheme under finite-time termination is analyzed. The approach is illustrated in a numerical example.

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