Distributed Estimator-Based Fault Detection for Multi-agent Networks
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This paper focuses on the problem of fault detection (FD) for multi-agent networks when some follower agents are subjected to actuator or sensor faults. A distributed FD architecture is proposed by constructing a consensus-based estimator and the related residual. Using Lyapunov function method and Riccati equation, asymptotically stable condition for the novel estimator is derived, and the time-varying residual threshold for FD is determined. A numerical example is presented to illustrate the efficiency of the consensus-based approach for FD.
KeywordsFault detection (FD) Consensus-based estimator Riccati equation Multi-agent networks
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