Abstract
This paper is concerned with the problem of distributed fault estimation for time-varying multi-agent systems (MASs) with sensor faults and partially decoupled disturbances. An augmented system is constructed where the augmented state vector contains system states and sensor faults, and assumptions on the fault are not necessary. By using the information of adjacent agents, an unknown input observer (UIO) for the ith agent can be designed to decouple the disturbances as much as possible and attenuate the influence from the disturbances that cannot be decoupled. The desired parameters of the UIO can be derived via solving recursive linear matrix inequalities over a finite horizon. Finally, a numerical example is provided to illustrate the effectiveness of the obtained results.
Highlights
The past decade has witnessed an ever-increasing research interest in multi-agent systems (MASs) due to their applications in many fields such as multi-robot systems, satellite formation control, mobile ad hoc networks, and geological exploration [1]–[6]
The aim of this paper is to deal with the problems of distributed fault estimation and accommodation for VOLUME 7, 2019 time-varying MAS with sensor faults
MAIN RESULTS the following theorem is first derived for the existence of the unknown input observer (UIO) under which d1(k) can be decoupled from e(k + 1)
Summary
The past decade has witnessed an ever-increasing research interest in multi-agent systems (MASs) due to their applications in many fields such as multi-robot systems, satellite formation control, mobile ad hoc networks, and geological exploration [1]–[6]. Since the agents exchange information with each other, one of the important problems for MASs is the consensus control whose aim is to design a controller for each agent based on the information of its neighbors such that all agents reach some common characteristics [7]–[11]. Due to MASs usually work in the complex/harsh environments, faults would take place in each agent and may disturb and even destroy the consensus of MASs. In contrast to component faults and actuator faults, it is more significant to deal with the sensor faults for MASs [13], [14]. Since the consensus control protocol is usually designed based on the relative measurements of adjacent agents, the sensor fault of one agent will affect this agent itself and its neighbor nodes. With hope to guarantee reliable and safe operations of MASs, the problem of distributed fault detection and design
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