Abstract
In the paper, a new local-model-based distributed fault diagnosis (LMDFD) scheme is proposed for multi-agent systems subject to actuator faults. The proposed LMDFD scheme consists of a distributed fault detection (DFD) unit and a distributed fault isolation (DFI) unit. A distributed fault detection residual generator (DFDRG) and a bank of distributed fault isolation residual generators (DFIRGs) are developed in each agent based on the closed-loop model of both the agent and neighbors of the agent. Each agent updates states of its DFDRG and DFIRGs by using information of itself, its neighbors, and the delayed information of its neighbors’ neighbors. Moreover, adaptive fault detection and isolation thresholds are designed to deal with bounded disturbances induced by the delayed information. Based on the adaptive thresholds and the residuals of DFDRG and DFIRGs, the DFD and DFI logic are designed for each agent, respectively. Simulation results demonstrate the effectiveness of the proposed LMDFD scheme.
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