Distributed fault detection and isolation for multi-agent systems using relative information

In this paper, a distributed fault detection and isolation (FDI) strategy, based on the output estimation, is proposed to deal with the additive type of faults for a class of linear multi-agent systems using only relative information. Firstly, by applying a series of model transformations, a new fault detection model which can estimate the neighbours' nominal outputs by solving linear system equations is created. The distibuted FDI strategy based on the proposed model is then designed and proved to be effective in theory. After that, a novel event-triggered communication framework is proposed to improve the reliability of the fault detection result. A simulation of multi-vehicles undertaking formation control with FDI strategies is given at last.