Event-triggered simultaneous fault detection and tracking control for multi-agent systems

Abstract

ABSTRACTThe main aim of this study is to design distributed simultaneous fault detection and control units for multi-agent systems subject to limited communication and energy resources. For this purpose, each agent is equipped with a single module that generates both the residual signal for the fault detection task, as well as the control input of each agent for the tracking objective. To reduce the communication among the agents, an event-triggered data transmission paradigm is considered by using a dynamic triggering rule which results in higher data transmission reduction in comparison with the static triggering condition. Moreover, the proposed dynamic observer-based structure for the detector-controller module provides more degrees of freedom compared to the static Luenberger observer. The design parameters are obtained by solving a multi-objective optimisation problem considering the fault detection, tracking, and communication objectives. Simulation results illustrate the effectiveness and capabilities of the proposed method.