Fault Detection and Isolation for Multiagent Systems Under Event-Triggered Communication: A Zonotopic Joint Estimation Method

This article investigates the fault detection and isolation problem of a class of leader-follower multiagent systems subject to unknown-but-bounded disturbances under an event-triggered communication mechanism (ETCM). First, an adaptive ETCM is proposed to avoid the continuous acquisition of outputs from neighboring agents, thereby reducing the communication burden. Second, a joint state and fault observer is designed, and $ H_{\infty }$ analysis is utilized to improve the robustness of the observer against external disturbances and event-triggered errors. Next, zonotopic reachability analysis is utilized to derive the estimated intervals of the system state and fault signal, based on which a fault detection and isolation method is developed to determine both when the system is faulty and which agent is at fault. Finally, a fighter formation model is employed to verify the effectiveness of the proposed approach.