Distributed sensor and actuator reconfiguration for fault-tolerant networked control systems

A.M. Herdeiro Teixeira, Jose Araujo, Henrik Sandberg, Karl H. Johansson

Research output: Contribution to journalArticleScientificpeer-review

8 Citations (Scopus)
46 Downloads (Pure)


In this paper, we address the problem of distributed reconfiguration of networked control systems upon the removal of misbehaving sensors and actuators. In particular, we consider systems with redundant sensors and actuators cooperating to recover from faults. Reconfiguration is performed while minimizing a steady-state estimation error covariance and a quadratic control cost. A model-matching condition is imposed on the reconfiguration scheme. It is shown that the reconfiguration and its underlying computation can be distributed. Using an average dwell-time approach, the stability of the distributed reconfiguration scheme under finite-time termination is analyzed. The approach is illustrated in a numerical example.

Original languageEnglish
JournalIEEE Transactions on Control of Network Systems
Publication statusPublished - 2017


  • Actuators
  • Computational modeling
  • Estimation error
  • Networked control systems
  • Redundancy


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