Distributed Fault Detection Using Relative Information in Linear Multi-Agent Networks ★ ★The work from Daniel Silvestre was supported by the project FCT [UID/EEA/50009/2013] and with grant SFRH//BD/71206/2010, from Fundação para a Ciência e a Tecnologia. J. Hespanha was supported by the U.S. Army Research Laboratory and the U.S. Army Research Office under grants No. W911NF-09-1-0553 and W911NF-09-D-0001. C. Silvestre was supported by project MYRG117(Y1-L3)-FST12-MKM of the University of Macau.

Abstract

This paper addresses the problem of fault detection in the context of a collection of agents performing a shared task and exchanging relative information over a communication network. We resort to techniques in the literature to construct a meaningful observable system and overcome the issue that the system of systems is not observable. A solution involving Set-Valued Observers (SVOs) is proposed to estimate the state in a distributed fashion and a proof of convergence of the estimates is given under mild assumptions. The performance of the proposed algorithm is assessed through simulations.