In this chapter, we address the problem of integrated fault detection and consensus control (IFDCC) of linear continuous-time multiagent systems. A mixed H∞/H- formulation of the IFDCC problem is presented and distributed detection filters are designed using only relative output information among the agents. With our proposed methodology, all agents reach either a state consensus (SC) or a model reference consensus (MRC), while the agents simultaneously collaborate with one another to detect the occurrence of faults in the team. Indeed, each agent not only can detect its own fault but also is also capable of detecting its neighbor's faults.

Chapter Contents:

• 7.1 Introduction
• 7.2 System description and problem statement
• 7.2.1 Multiagent team representation
• 7.2.2 Design of the detector/controller units
• 7.2.3 Closed-loop team dynamics
• 7.2.4 The distributed IFDCC problem definition
• 7.3 Distributed IFDCC decomposition
• 7.3.1 Model transformation
• 7.3.2 Model decomposition
• 7.4 LMI formulation and design for the IFDCC problem
• 7.4.1 Residual evaluation criterion
• 7.4.2 Distributed fault isolation
• 7.5 Case study
• 7.5.1 Case study 1 (corresponding to Requirement 1)
• 7.5.2 Case study 2 (corresponding to Requirement 2)
• 7.6 Conclusion

Inspec keywords: H∞ control; multi-agent systems; continuous time systems; fault diagnosis; H2 control; networked control systems; control system synthesis; linear systems

Other keywords: integrated fault detection and consensus control design; model reference consensus; mixed H_∞-H_- formulation; MRC; linear continuous-time multiagent systems; neighbor fault detection; distributed detection filters; relative output information; state consensus; IFDCC problem

Subjects: Distributed parameter control systems; Optimal control; Control system analysis and synthesis methods; Multivariable control systems; Linear control systems