Abstract
This paper proposes a new distributed actuator fault detection and estimation scheme for linear multi agent systems. Information exchange between the agents is described by an undirected graph. The considered faults are time-varying and they have abrupt characteristic. Also, state variables of the system are not available. The proposed distributed fault detection algorithm designs a diagnostic estimator based on the relative local information to monitor the status of each agent, generate residual signal and detect fault. After that, an adaptive fault estimation module is activated to estimate the detected fault. The proposed scheme is formulated as a linear matrix inequality problem and its stability analysis is proved. Finally, to verify the effectiveness of the proposed structure, some simulation results are presented.
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