Abstract
In this chapter, we address the problem of actuator fault detection and isolation of a network of unmanned vehicles corresponding to three different architectures, namely centralized, decentralized, and semi-decentralized. It is shown that the fault signatures in a network of unmanned vehicles with relative state measurements are dependent and the overall system is overactuated. This motivates us to investigate the development, design, and analysis of a fault detection and isolation (FDI) scheme for both linear and nonlinear systems with dependent fault signatures. Earlier versions of the work presented in this chapter have partially appeared in [127, 128, 129, 131].
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