Distributed Fault Detection for Second-Order Delayed Multi-Agent Systems With Adversaries

In this paper, the problem of distributed fault detection and isolation is considered for multiagent systems with time delays. An adversarial observer is designed for each agent, using local information of the agent, to estimate the external adversaries. By utilizing the adversarial observer, the detection of the faults caused by external incipient adversaries can be handled. Moreover, a software architecture is proposed for each agent; this can guarantee the multi-agent systems immune to the agents intruded by external adversaries. At last, numerical simulations are employed to verify the validity of the theoretical results.