© The Institution of Engineering and Technology
In this study, the distributed fault detection and isolation problem for a class of second-order discrete-time multi-agent systems (MASs) is studied by using an optimal robust observer approach. The work is based on an MAS with a mean square bounded consensus protocol. The authors prove that for this kind of system, a bank of optimal robust observers can be constructed for a certain agent to detect and isolate the possible faults of its neighbour agents. The main result of this study is to bring forward an existence condition for these observers, which is closely related to the topology structure of the MAS. For the detection of the faults injected in position states, they show that only the position information of the MAS is needed, but for the case of detecting faults in velocity states, both position and velocity measurements are needed. Simulation results are presented to illustrate the effectiveness of the results proposed in this study.
References
-
-
1)
-
P.M. Frank
.
Fault diagnosis in dynamic systems using analytical and knowledge-based redundancy – a survey and some new results.
Automatica
,
3 ,
459 -
474
-
2)
-
23. Chen, J., Patton, R.J.: ‘Robust model-based fault diagnosis techniques for dynamic systems’, (Springer Verlag, 1999, 1st edn.), pp. 75–85.
-
3)
-
31. Chen, J., Patton, R.J., Liu, G.P.: ‘Optimal residual design for fault diagnosis using multi-objective optimization and genetic algorithms’, Int. J. Syst. Sci., 1996, 27, (6), pp. 567–576 (doi: 10.1080/00207729608929251).
-
4)
-
25. Saroj, B., Frank, F., Qing, D., Li, B.: ‘Resilient consensus control for linear systems in a noisy environment’, Proc. American Control Conf., Montreal, Canada, June 2012, pp. 5862–5867.
-
5)
-
X. He ,
Z. Wang ,
D. Zhou
.
Robust fault detection for networked systems with communication delay and data missing.
Automatica
,
11 ,
2634 -
2639
-
6)
-
7. Hwang, K.S., Tan, S.W., Hsiao, M.C.: ‘Cooperative multi-agent congestion control for high-speed networks’, IEEE Trans. Syst. Man Cybern., B Cybern., 2005, 35, (2), pp. 255–268 (doi: 10.1109/TSMCB.2004.842418).
-
7)
-
15. Zhang, X.D.: ‘Decentralized fault detection for a class of large-scale nonlinear uncertain systems’, Proc. American Control Conf., Baltimore, MD, USA, June 2010, pp. 5650–5655.
-
8)
-
18. Azizi, S.M., Khorasani, K.: ‘A distributed kalman filter for actuator fault estimation of deep space formation flying satellites’, Proc. IEEE Systems Conf., Vancouver, Canada, March 2009, pp. 354–359.
-
9)
-
P. Zhang ,
S. Ding ,
G. Wang ,
D. Zhou
.
Fault detection of linear discrete-time periodic systems.
IEEE Trans. Autom. Control
,
2 ,
239 -
244
-
10)
-
B. Jiang ,
M. Staroswiecki ,
V. Cocquempot
.
Fault accommodation for nonlinear dynamic systems.
IEEE Trans. Autom. Control
,
9 ,
1578 -
1583
-
11)
-
R. Olfati-Saber
.
Flocking for multi-agent dynamic systems: algorithms and theory.
IEEE Trans. Autom. Control
,
3 ,
401 -
420
-
12)
-
19. Mehrabian, A.R., Khorasani, K.: ‘Reconfigurable cooperative control of networked lagrangian systems under actuator saturation constraints’, IET Control Theory Appl., 2011, 6, (4), pp. 578–587 (doi: 10.1049/iet-cta.2010.0571).
-
13)
-
26. Zhou, D.H., Frank, P.M.: ‘Fault diagnostics and fault tolerant control’, IEEE Trans. Aerosp. Electron. Syst., 1998, 34, (2), pp. 420–427 (doi: 10.1109/7.670324).
-
14)
-
T. Li ,
J.F. Zhang
.
Consensus conditions of multi-agent systems with time-varying topologies and stochastic communication noises.
IEEE Trans. Autom. Control
,
9 ,
2043 -
2057
-
15)
-
J.A. Fax ,
R.M. Murray
.
Information flow and cooperative control of vehicle formations.
IEEE Trans. Autom. Control
,
9 ,
1465 -
1476
-
16)
-
26. Xie, D.M., Wang, S.K.: ‘Consensus of second-order discrete-time multi-agent systems with fixed topology’, J. Math. Anal. Appl., 2012, 387, (1), pp. 8–16 (doi: 10.1016/j.jmaa.2011.08.052).
-
17)
-
30. Chen, J., Patton, R.J.: ‘Robust fault diagnosis of stochastic systems with unknown disturbances’, Proc. Int. Conf. Control, Coventry, UK, January 1994, pp. 1340–1345.
-
18)
-
3. Hu, J.W., Xu, Z.: ‘Distributed cooperative control for deployment and task allocation of unmanned aerial vehicle networks’, IET Control Theory Appl., 2013, 7, (11), pp. 1574–1582 (doi: 10.1049/iet-cta.2012.0779).
-
19)
-
W. Ren
.
On consensus algorithms for double-integrator dynamics.
IEEE Trans. Autom. Control
,
6 ,
1503 -
1509
-
20)
-
M. Shahidehpour ,
W. Tinney
.
Impact of security on power systems operation.
Proc. IEEE
,
11 ,
2013 -
2025
-
21)
-
B. Marx ,
D. Koenig ,
J. Ragot
.
Design of observers for Takagi-Sugeno descriptor systems with unknown inputs and application to fault diagnosis.
IET Control Theory Appl.
,
5 ,
1487 -
1495
-
22)
-
A. Jadbabaie ,
J. Lin ,
A.S. Morse
.
Coordination of groups of mobile autonomous agents using nearest neighbor rules.
IEEE Trans. Autom. Control
,
6 ,
988 -
1001
-
23)
-
20. Davoodi, M.R., Khorasani, K., Talebi, H.A., Momeni, H.R.: ‘A novel distributed robust fault detection and isolation filter design for a network of nonhomogeneous multi-agent systems’, Proc. IEEE Conf. on Decision and Control, Maui, Hawaii, USA, December 2012, pp. 592–599.
-
24)
-
14. Ding, S.X.: ‘Model-based fault diagnosis techniques and design schemes’, (Springer Verlag, 2008, 1st edn.), pp. 13–21.
-
25)
-
T. Vicsek ,
A. Czirok ,
E. Ben-Jacob ,
I. Cohen ,
O. Shochet
.
Novel type of phase transition in a system of self-driven particles.
Phys. Rev. Lett.
,
1226 -
1229
-
26)
-
17. Shames, I., Teixeira, A., Sandberg, H., Johansson, K.: ‘Distributed fault-detection for interconnected second-order systems’, Automatica, 2011, 47, pp. 2757–2764 (doi: 10.1016/j.automatica.2011.09.011).
-
27)
-
17. Walter, C.H., Speyer, J.L., Robert, C.H.: ‘A decentralized fault detection filter’, J. Dyn. Syst. Meas. Control, 2001, 123, (2), pp. 237–247 (doi: 10.1115/1.1367859).
-
28)
-
24. Barooah, P., Hespanha, J.P.: ‘Graph effective resistance and distributed control: spectral properties and applications’, Proc. IEEE Conf. on Decision and Control, San Diego, USA, December 2006, pp. 3479–3485.
-
29)
-
16. Jennings, N.R.: ‘Decentralized control of complex systems’, Proc. Int. Symp. on Computer and Information Sciences, Ankara, Turkey, September 2007, pp. 440–442.
-
30)
-
6. Zhang, H., Yan, H.C., Yang, F.W.: ‘Distributed average filtering for sensor networks with sensor saturation’, IET Control Theory Appl., 2013, 7, (6), pp. 887–893 (doi: 10.1049/iet-cta.2012.0558).
-
31)
-
K. Zhang ,
B. Jiang ,
P. Shi
.
Fast fault estimation and accommodation for dynamical systems.
IET Control Theory Appl.
,
2 ,
189 -
199
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-cta.2013.0841
Related content
content/journals/10.1049/iet-cta.2013.0841
pub_keyword,iet_inspecKeyword,pub_concept
6
6