Title :
Detection and isolation of link failures under the agreement protocol
Author :
Rahimian, M.A. ; Preciado, Victor M.
Author_Institution :
Dept. of Electr. & Syst. Eng., Univ. of Pennsylvania, Philadelphia, PA, USA
Abstract :
In this paper a property of the multi-agent consensus dynamics that relates the failure of links in the network to jump discontinuities in the derivatives of the output responses of the nodes is derived and verified analytically. At the next step, an algorithm for sensor placement is proposed, which would enable the designer to detect and isolate any link failures across the network based on the observed jump discontinuities in the derivatives of the responses of a subset of nodes. These results are explained through elaborative examples.
Keywords :
directed graphs; fault diagnosis; fault tolerant control; multi-agent systems; multi-robot systems; network theory (graphs); protocols; agreement protocol; jump discontinuities; link failure detection; link failure isolation; multi-agent consensus dynamics; network node; sensor placement; Algorithm design and analysis; Artificial neural networks; Dynamics; Image edge detection; Multi-agent systems; Protocols; Vectors;
Conference_Titel :
Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on
Conference_Location :
Firenze
Print_ISBN :
978-1-4673-5714-2
DOI :
10.1109/CDC.2013.6761058
