Fault Detection and Estimation of Multi-Agent Systems: Neighborhood-Observer-Based Approach

In this paper, the adaptive fault detection and estimation problems are investigated for a class of linear multi-agent systems with sensor faults, and adaptive neighborhood-observer-based approaches are respectively proposed to detect and estimate the faults. By applying graph and stability theory, it is proved that the detection and estimation errors converge to an adjustable small neighborhood of the origin with all signals in the closed-loop system being bounded. Finally, simulation results demonstrate the effectiveness of the approach proposed in this paper.