Fault Tolerant Time Optimization of Switched Systems with Application to Multi-agent Flight Control

摘要

This paper considers the problem of determining optimal switching time for the switched system in the presence of switching faults, which may result in the deviation of the prescribed switching time from normal. A passive fault-tolerant scheme, which relies on the min-max strategy containing gradient descent algorithm, is proposed to guarantee that the faulty switched system has the minimal upper bound of the cost function. In the case that the switching faults take place regularly, an active fault-tolerant scheme is further developed which can decrease the minimal upper bound of the cost function, and thus reduce the conservativeness of the passive one. These two new schemes are applied to resolve the route conflict among multi-airplanes in multi-agent flight control to illustrate their efficiency and applicability.