Suboptimal control reconfiguration in switched multi-agent networked systems

In this work, the control recovery problem in a directed network of switched multi-agent systems is studied. A distributed cooperative control strategy is proposed which ensures that the agents reach a consensus while the upper bound of the team performance index is minimized even when the agents are subject to actuator faults where fault severity estimation uncertainties are presented. Using quadratic Lyapunov functions, a reconfiguration strategy is provided to design the gains of the proposed distributed reconfigurable control laws such that the team objectives are guaranteed. Our proposed reconfigurable control laws are applied to a team of seven autonomous underwater vehicles under directed switching topology and subject to simultaneous actuator faults. Simulation results demonstrate the effectiveness of the proposed reconfiguration control laws in compensating for the effects of sudden actuator faults and uncertainties.