This paper studies the problem of distributed robust actuator fault detection for multi-agent systems composed of multiple unicycle-type mobile agents with chained form dynamics. This objective is achieved through the design of cascades of predefined-time sliding mode observers to give an exact estimate of the global system state, whereby the settling time is a parameter defined in advance, which does not depend on the initial conditions of the system. The system structure allows us to reconstruct the disturbance inputs using the equivalent control concept to generate efficient residual signals. This method ensures global actuator fault detection, where each agent can detect its faults and those occurring elsewhere in the system using only local information.

中文翻译：

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具有链式动力学的多智能体系统中的分布式全局故障检测方案

本文研究了由具有链形式动力学的多个单轮型移动智能体组成的多智能体系统的分布式鲁棒执行器故障检测问题。通过设计预定义时间滑模观察器的级联以给出全局系统状态的精确估计，可以达到此目的，其中稳定时间是预先定义的参数，它不取决于系统的初始条件。系统结构允许我们使用等效控制概念来重建干扰输入，以生成有效的残差信号。此方法可确保全局执行器故障检测，其中每个代理都可以仅使用本地信息来检测其故障以及系统中其他位置发生的故障。