Distributed Cooperative Fault Detection for Multi-agent Systems with Time-Varying Delay

In this paper, the problem of distributed cooperative fault detection for multi-agent systems with time-varying delay is considered. First, a reference model which has the best performance in the uncertainty free cases is introduced. It can be applied to avoid directly processing the uncertain time-varying delay in the communication link. Then a residual generator is designed to best match the reference model in the delay-free case. A sufficient condition for the existence of the optimal residual generator is derived in terms of the solution to a linear matrix inequality (LMI). In order to further reduce the influence of the communication delay, a distributed cooperative fault detection scheme is novelly proposed by making full use of the group dominance. Finally, numerical simulations are provided to show the effectiveness of the proposed method.