Sensor Fault Detection for CPS Under Attack-Free Consensus Protocol

This brief investigates the detection of sensor faults in multiagent cyber-physical systems (CPSs) under attack-free consensus protocols when actuators also fail. A distributed fault detection observer (DFDO) is proposed, which enables decoupling between fault indication signals and actuator faults without requiring any prior knowledge about actuator faults. The proposed method’s effectiveness is validated through the simulations conducted on a fleet of transport aircraft with short-period dynamics.