Residual Generation Synthesis for Sensor Fault Diagnosis in Multi-Agent Systems

This paper presents a novel approach for the generation of residual in order to diagnose (detect and identify) sensor faults in a particular class of network based on multi-agent system (MAS). Specifically, the network under consideration is composed of local subsystems with nonlinear dynamics which are interconnected through a second-order consensus control law over one of their local states. The proposed methodology takes advantage of a model of the interconnection dynamics rather than nonlinear local models of each subsystem. Simulation results are provided to illustrate the use of the proposed scheme on a network of planar take-off and landing vehicles (PVTOL) with consensus over the horizontal coordinate.