Observer-based distributed fault detection and isolation for second-order multi-agent systems using relative information

Abstract

This paper considers fault detection and isolation problem for second-order leader-follower multi-agent systems in a distributed setting. With the existing tracking protocol, an observer is constructed at each agent based on the concept of unknown input observer using relative information between the agent and its neighbors. Fault in position, velocity, both position and velocity dynamics are considered separately. Based on the residual signal generated from the designed observer, two algorithms are proposed so that the faulty agent in network can be detected and isolated simply. Effectiveness of the presented strategy is validated by some application examples.