Simultaneous fault detection and control protocol design for coordination of multi-agent systems

Abstract

The problem of simultaneous fault detection and control protocol design for coordination of discrete-time multi-agent systems is investigated in this paper. Based on the relative output measurements and relative control inputs between adjacent agents, both the distributed fault detection filters and an observer-based distributed control protocol are presented. The aim of the problem addressed is to simultaneously design the parameters of the observers, the residuals and the controller such that multi-agent systems achieve coordination with some H ∞ coordination performances and the observers ensure stability with H − /H ∞ performance. Using Finsler's lemma, sufficient conditions for the existence of such controllers and observers are proposed in terms of some linear matrix inequalities. A team of autonomous unmanned underwater vehicles is utilized to illustrate the effectiveness of the proposed method.