JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2017, Vol. 47 ›› Issue (5): 96-102.doi: 10.6040/j.issn.1672-3961.0.2017.169

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Fault detection for multi-agent systems based on intermediate observer

WU Yanming1, WANG Ruiyun2, WANG Zhanshan1*   

  1. 1. College of Information Science and Engineering, Northeastern University, Shenyang 110819, Liaoning, China;
    2. China Railway Fifth Survey and Design Institute Group Co., LTD., Beijing 102600, China
  • Received:2017-04-18 Online:2017-10-20 Published:2017-04-18

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Abstract: The actuator fault detection was studied with fault detection for a class of linear multi-agent systems under indirect communication network topology. A set of virtual systems were designed, and an actuator fault detection algorithm was proposed based on intermediate observer, which overcame the restriction of observer matching condition. The intermediate variable matrix was used appropriately to simultaneously estimate the states and faults. The states residual signal between adjacent agents was used to detect not only its own faults but also the faults of its nearest neighbors. Based on the Lyapunov stability theory, it was proved that the estimation errors were uniformly ultimately bounded. Simulation results showed the effectiveness of the designed method.

Key words: intermediate variable matrix, linear matrix inequality, multi-agent systems, intermediate observer, fault estimation

CLC Number: 

  • TP206
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