Performance recovery of undirected formations subject to failures in communication links

Ali Moradi Amani; Guanrong Chen; Mahdi Jalili; Xinghuo Yu

doi:10.1109/iecon.2017.8216542

Performance recovery of undirected formations subject to failures in communication links

Ali Moradi Amani
, Guanrong Chen
, Mahdi Jalili
, Xinghuo Yu

Department of Electrical Engineering

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

2 Citations (Scopus)

Abstract

In this paper, the stability problem of formation of multi-agents subject to failures in their communication links is addressed. The objective of the formation control problem is to maintain the inter-agent distances to be constants over time using a distributed control algorithm implemented in each agent. Previous research results showed that a distributed gradient-based control can locally asymptotically stabilize an undirected formation. However, in the case of failures in the inter-agent communication network, the degrees of freedom for some nodes might become uncontrollable and, consequently, the formation starts deviating from the desired conditions due to uncertainties and noise. In this paper, it is proved that in a faulty formation system, if there still exists a path between the agents on the both sides of the failed link, the gradient-based control signal can recover the formation without adding any new link to the network. Based on this feature, an algorithm for recovering the formation from the fault is developed. Simulation results show that the proposed recovery algorithm can tolerate small values of delays in data communications.

Original language	English
Title of host publication	Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
Publisher	IEEE
Pages	3209-3214
ISBN (Electronic)	9781538611272
ISBN (Print)	9781538611289
DOIs	https://doi.org/10.1109/iecon.2017.8216542
Publication status	Published - Nov 2017
Event	43rd Annual Conference of the IEEE Industrial Electronics Society (IECON 2017) - China National Convention Center, Beijing, China Duration: 29 Oct 2017 → 1 Nov 2017 http://iecon2017.csp.escience.cn/dct/page/1

Publication series

Name	IEEE Industrial Electronics Society
ISSN (Print)	1553-572X

Conference

Conference	43rd Annual Conference of the IEEE Industrial Electronics Society (IECON 2017)
Place	China
City	Beijing
Period	29/10/17 → 1/11/17
Internet address	http://iecon2017.csp.escience.cn/dct/page/1

Research Keywords

Failure of communication link
Fault recovery
Undirected formation control

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10.1109/iecon.2017.8216542

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@inproceedings{0eff07cd21d74e2c98c1f535886b2c1d,

title = "Performance recovery of undirected formations subject to failures in communication links",

abstract = "In this paper, the stability problem of formation of multi-agents subject to failures in their communication links is addressed. The objective of the formation control problem is to maintain the inter-agent distances to be constants over time using a distributed control algorithm implemented in each agent. Previous research results showed that a distributed gradient-based control can locally asymptotically stabilize an undirected formation. However, in the case of failures in the inter-agent communication network, the degrees of freedom for some nodes might become uncontrollable and, consequently, the formation starts deviating from the desired conditions due to uncertainties and noise. In this paper, it is proved that in a faulty formation system, if there still exists a path between the agents on the both sides of the failed link, the gradient-based control signal can recover the formation without adding any new link to the network. Based on this feature, an algorithm for recovering the formation from the fault is developed. Simulation results show that the proposed recovery algorithm can tolerate small values of delays in data communications.",

keywords = "Failure of communication link, Fault recovery, Undirected formation control",

author = "Amani, \{Ali Moradi\} and Guanrong Chen and Mahdi Jalili and Xinghuo Yu",

year = "2017",

month = nov,

doi = "10.1109/iecon.2017.8216542",

language = "English",

isbn = "9781538611289",

series = "IEEE Industrial Electronics Society",

publisher = "IEEE",

pages = "3209--3214",

booktitle = "Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society",

address = "United States",

note = "43rd Annual Conference of the IEEE Industrial Electronics Society (IECON 2017) ; Conference date: 29-10-2017 Through 01-11-2017",

url = "http://iecon2017.csp.escience.cn/dct/page/1",

}

Amani, AM, Chen, G, Jalili, M & Yu, X 2017, Performance recovery of undirected formations subject to failures in communication links. in Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. IEEE Industrial Electronics Society, IEEE, pp. 3209-3214, 43rd Annual Conference of the IEEE Industrial Electronics Society (IECON 2017), Beijing, China, 29/10/17. https://doi.org/10.1109/iecon.2017.8216542

Performance recovery of undirected formations subject to failures in communication links. / Amani, Ali Moradi; Chen, Guanrong; Jalili, Mahdi et al.
Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. IEEE, 2017. p. 3209-3214 (IEEE Industrial Electronics Society).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Performance recovery of undirected formations subject to failures in communication links

AU - Amani, Ali Moradi

AU - Chen, Guanrong

AU - Jalili, Mahdi

AU - Yu, Xinghuo

PY - 2017/11

Y1 - 2017/11

N2 - In this paper, the stability problem of formation of multi-agents subject to failures in their communication links is addressed. The objective of the formation control problem is to maintain the inter-agent distances to be constants over time using a distributed control algorithm implemented in each agent. Previous research results showed that a distributed gradient-based control can locally asymptotically stabilize an undirected formation. However, in the case of failures in the inter-agent communication network, the degrees of freedom for some nodes might become uncontrollable and, consequently, the formation starts deviating from the desired conditions due to uncertainties and noise. In this paper, it is proved that in a faulty formation system, if there still exists a path between the agents on the both sides of the failed link, the gradient-based control signal can recover the formation without adding any new link to the network. Based on this feature, an algorithm for recovering the formation from the fault is developed. Simulation results show that the proposed recovery algorithm can tolerate small values of delays in data communications.

AB - In this paper, the stability problem of formation of multi-agents subject to failures in their communication links is addressed. The objective of the formation control problem is to maintain the inter-agent distances to be constants over time using a distributed control algorithm implemented in each agent. Previous research results showed that a distributed gradient-based control can locally asymptotically stabilize an undirected formation. However, in the case of failures in the inter-agent communication network, the degrees of freedom for some nodes might become uncontrollable and, consequently, the formation starts deviating from the desired conditions due to uncertainties and noise. In this paper, it is proved that in a faulty formation system, if there still exists a path between the agents on the both sides of the failed link, the gradient-based control signal can recover the formation without adding any new link to the network. Based on this feature, an algorithm for recovering the formation from the fault is developed. Simulation results show that the proposed recovery algorithm can tolerate small values of delays in data communications.

KW - Failure of communication link

KW - Fault recovery

KW - Undirected formation control

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U2 - 10.1109/iecon.2017.8216542

DO - 10.1109/iecon.2017.8216542

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781538611289

T3 - IEEE Industrial Electronics Society

SP - 3209

EP - 3214

BT - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society

PB - IEEE

T2 - 43rd Annual Conference of the IEEE Industrial Electronics Society (IECON 2017)

Y2 - 29 October 2017 through 1 November 2017

ER -

Performance recovery of undirected formations subject to failures in communication links

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