Cooperative $\mathcal{H}_\infty$ Fault-Tolerant Tracking with ISS Guarantees for Networked Systems with Sensor Faults
Fuente:
arXiv
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Preprint |
| Published: |
2026
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866917470740152320 |
|---|---|
| author | Wafi, Moh Kamalul Nugraha, Yurid E. Widjiantoro, Bambang L. Indriawati, Katherin |
| author_facet | Wafi, Moh Kamalul Nugraha, Yurid E. Widjiantoro, Bambang L. Indriawati, Katherin |
| contents | This paper develops a cooperative fault-tolerant tracking framework for heterogeneous networked linear systems subject to sensor faults and external disturbances. Each unit employs an augmented $\mathcal{H}_\infty$ observer that jointly reconstructs the system state and unknown sensor fault, providing disturbance-attenuated estimation guarantees. An inner state-feedback gain is synthesized through convex $\mathcal{H}_\infty$ Linear Matrix Inequalities (LMIs) to ensure robust closed-loop stabilization and disturbance rejection, while an outer distributed integral action eliminates steady-state tracking offsets and enables cooperative tracking of a setpoint source. The resulting cooperative error dynamics are shown to satisfy an Input-to-State Stability (ISS) property with respect to disturbances and residual estimation uncertainty, and converge exponentially to zero in the disturbance-free case. Furthermore, vanishing cooperative error guarantees network-wide consensus tracking of the desired setpoint. Numerical studies on heterogeneous DC-motor networks with star, cyclic, and path communication topologies demonstrate accurate state and fault estimation, robust cooperative tracking, and resilience against disturbances and time-varying sensor faults. The proposed framework provides a scalable and robust coordination strategy for interconnected systems operating under sensing imperfections and uncertain environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_03921 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Cooperative $\mathcal{H}_\infty$ Fault-Tolerant Tracking with ISS Guarantees for Networked Systems with Sensor Faults Wafi, Moh Kamalul Nugraha, Yurid E. Widjiantoro, Bambang L. Indriawati, Katherin Systems and Control This paper develops a cooperative fault-tolerant tracking framework for heterogeneous networked linear systems subject to sensor faults and external disturbances. Each unit employs an augmented $\mathcal{H}_\infty$ observer that jointly reconstructs the system state and unknown sensor fault, providing disturbance-attenuated estimation guarantees. An inner state-feedback gain is synthesized through convex $\mathcal{H}_\infty$ Linear Matrix Inequalities (LMIs) to ensure robust closed-loop stabilization and disturbance rejection, while an outer distributed integral action eliminates steady-state tracking offsets and enables cooperative tracking of a setpoint source. The resulting cooperative error dynamics are shown to satisfy an Input-to-State Stability (ISS) property with respect to disturbances and residual estimation uncertainty, and converge exponentially to zero in the disturbance-free case. Furthermore, vanishing cooperative error guarantees network-wide consensus tracking of the desired setpoint. Numerical studies on heterogeneous DC-motor networks with star, cyclic, and path communication topologies demonstrate accurate state and fault estimation, robust cooperative tracking, and resilience against disturbances and time-varying sensor faults. The proposed framework provides a scalable and robust coordination strategy for interconnected systems operating under sensing imperfections and uncertain environments. |
| title | Cooperative $\mathcal{H}_\infty$ Fault-Tolerant Tracking with ISS Guarantees for Networked Systems with Sensor Faults |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2604.03921 |