Simultaneous fault detection and containment control design for multi-agent systems with multi-leaders

Abstract

The problem of simultaneous fault detection and containment control of linear continuous-time multi-agent systems with multi-leaders is firstly addressed in this paper. Distributed detection filters are designed using relative output information and local input information among agents to detect the actuator faults and sensor faults in agents, and H∞/H− formulation for this problem is presented in the finite frequency domain. In order to solve the complexity problems caused by multiple leaders in the system, the influence of leaders on the residual signals of followers is taken into account in the design of the proposed detection filter, and through the reasonable design of the controller, the containment control of the followers can also be achieved simultaneously. The controller and filter parameters are obtained by solving the optimization problem with linear matrix inequalities(LMI) constraints. Furthermore, faults are allowed to occur in leaders in this paper, and an effective algorithm is proposed to detect and isolate faults in the system. At last, an adjustable filter structure is proposed to prevent the followers from being influenced by the failure leader, which is of great practical significance. Finally, to illustrate the effectiveness of the proposed methodology, a simulation study is provided.