In this article, a robust distributed fault detection and isolation (FDI) scheme for second-order multiagent systems (MASs) with exogenous disturbances based on partial agents’ absolute state will be proposed. We design a robust control law with disturbance rejection term for each agent, then, an augmented MAS closed-loop system without disturbance term is formed. We construct a bank of observers for FDI in some selected agents for the augmented MAS closed-loop system based on the idea of an unknown input observer (UIO), where the observers for FDI of the entire MAS are updated by the selected agents’ absolute states and relative states between themselves and their neighbors, which avoids utilizing all agents’ absolute states. We run observers for FDI in the selected agents to generate residuals to detect the faulty agent between themselves and their neighbors. Meanwhile, the existence proof of observers for FDI is also presented. It is worth noting that the remaining healthy agents will reach consensus again under the original robust control law if the communication topology is still connected. Finally, the effectiveness of the proposed scheme is illustrated by a multivehicle example.

中文翻译：

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具有外生干扰的二阶多智能体系统的基于部分节点的分布式故障检测与隔离


在本文中，将提出一种基于部分智能体绝对状态的鲁棒分布式故障检测和隔离（FDI）方案，用于具有外生干扰的二阶多智能体系统（MAS）。我们为每个智能体设计了带有扰动抑制项的鲁棒控制律，然后形成了一个无扰动项的增强MAS闭环系统。我们基于未知输入观察者（UIO）的思想，在一些选定的代理中为增强的 MAS 闭环系统构建了一组 FDI 观察者，其中整个 MAS 的 FDI 观察者由所选代理的绝对值更新状态以及它们自己与其邻居之间的相对状态，这避免了利用所有代理的绝对状态。我们在选定的智能体中运行 FDI 观察器来生成残差，以检测它们与其邻居之间的故障智能体。同时，还给出了FDI观察者的存在证明。值得注意的是，如果通信拓扑仍然连通，剩余的健康代理将在原来的鲁棒控制律下再次达成共识。最后，通过多车辆实例说明了该方案的有效性。