Abstract
This paper solves the distributed fault detection (FD) problem for heterogeneous multi-agent systems (MAS). For a heterogeneous MAS, we adopt a distributed control law to realise cooperative output regulation (COR) when no fault occurs in the MAS, and propose a state-feedback-based FD scheme, where the adopted distributed control law and proposed FD scheme all utilise state information. Furthermore, we consider the condition that state information is unmeasurable, the output-feedback-based distributed FD scheme is proposed, and the adopted distributed control law also utilises measurement output. Finally, two numerical examples are utilised to verify that the proposed distributed FD schemes could locate and remove the faulty agent in time.
Highlights
A large amount of literature on cooperative control of multi-agent systems (MAS) has emerged, which investigate this problem from different aspects, such as event-triggered and finite-time cooperative control [1,2]
As an effective method to realise cooperative control of heterogeneous MAS, for instance, a network of unmanned aerial vehicles (UAVs) with different dynamics, cooperative output regulation (COR) has attracted intensive research attention during the past decade [3,4,5,6], which was based on output regulation theory, where the influence of mismatched disturbance generated by an exosystem could be completely rejected via converting mismatched forms into matched forms [7]
This paper aims at adopting a distributed control law for the MAS, and designing distributed observers in some agents to detect the possibly faulty agent
Summary
A large amount of literature on cooperative control of multi-agent systems (MAS) has emerged, which investigate this problem from different aspects, such as event-triggered and finite-time cooperative control [1,2]. As an effective method to realise cooperative control of heterogeneous MAS, for instance, a network of unmanned aerial vehicles (UAVs) with different dynamics, cooperative output regulation (COR) has attracted intensive research attention during the past decade [3,4,5,6], which was based on output regulation theory, where the influence of mismatched disturbance generated by an exosystem could be completely rejected via converting mismatched forms into matched forms [7]. As some agents may destroy other healthy agents due to the influence of unexpected faults, security operation of heterogeneous MAS has attracted some researchers’ attention
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