Distributed fault detection and isolation for leader–follower multi-agent systems with disturbances using observer techniques
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For the purpose of fault detection and isolation for leader–follower multi-agent systems with disturbances, a sliding-mode observer is designed using local information and suitable auxiliary information received from neighbor agents. By means of the observer, each agent can estimate the overall state of follower agents even if they are not directly connected. Then, using the relative output estimations, a residual vector is developed to detect and isolate the fault occurring on any follower agent of the leader–follower multi-agent systems. By the end, numerical simulations are employed to verify the effectiveness of the theoretical results.
KeywordsLeader–follower multi-agent systems Fault detection and isolation Sliding-mode observer
This work is supported in part by National Natural Science Foundation of China under Grant 61374047 and 61203147, in part by US National Science Foundation under Grant EPCN 1507096, and in part by Natural Science Foundation of Jiangsu Higher Education Institutions under Grant 16KJB520003.
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