Distributed Fault Detection for Multiagent Systems With Coupled State Constraints

Existing research on distributed fault detection (DFD) rarely considers coupled state constraints, which are common in multiagent systems (MASs). To fill this gap, this article investigates the problem of DFD for MASs with coupled state constraints. By employing the finite-horizon H∞ filtering framework and the augmented Lagrange method, a distributed fault detector is developed to cope with coupled state constraints and norm-bounded noises using the relative output information among neighbors. Based on the sufficient convergence conditions of local iterative solutions, the covariance correction is derived, and mild conditions are proposed to guarantee the finite-time boundedness of the local error covariance. Finally, practical experimental results demonstrate that the proposed algorithm effectively reduces cumulative estimation errors and fault detection (FD) delays while maintaining strong robustness against uncertainties.