Observer-based distributed fault detection and isolation for second-order multi-agent systems using relative information |
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| Authors: | Yuqi Bai Jinzhi Wang |
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| Institution: | 1. State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, Liaoning 110004, China;2. College of Information Science and Engineering, Northeastern University, Shenyang, Liaoning 110004, China;3. College of Automation, Chongqing University, Chongqing 400044, China;4. College of Medicine and Biological Information Engineering, Northeastern University, Shenyang, Liaoning 110169, China;1. Dep. of Electrical and Computer Engineering, Instituto Superior Técnico, ISR, 1046-001 Lisboa, Portugal;7. Deimos Engenharia, Lisbon, Portugal;71. Dept. of Electrical and Computer Eng., University of California, Santa Barbara, CA 93106-9560, USA;77. Department of Electrical and Computer Engineering of the Faculty of Science and Technology of the University of Macau, Macao, China, on leave from Instituto Superior Técnico/Technical University of Lisbon, 1049-001 Lisbon, Portugal |
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| Abstract: | This paper considers fault detection and isolation problem for second-order leader-follower multi-agent systems in a distributed setting. With the existing tracking protocol, an observer is constructed at each agent based on the concept of unknown input observer using relative information between the agent and its neighbors. Fault in position, velocity, both position and velocity dynamics are considered separately. Based on the residual signal generated from the designed observer, two algorithms are proposed so that the faulty agent in network can be detected and isolated simply. Effectiveness of the presented strategy is validated by some application examples. |
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