Distributed fault detection for non-linear multi-agent systems: an adjustable dimension observer design method

This study is devoted to observer-based fault detection for non-linear multi-agent systems. Utilising the output information of the neighbour nodes, an adjustable dimension observer is designed, in which the dimension of the observer can be adjusted within a certain range. Thus, the trade-off between the detection performance and the detection cost can be obtained. Based on the observers constructed on one node, the fault in its neighbouring nodes can be detected. The disturbance is removed from the residual, which implies that the fault detection result is robust to the disturbance. The region pole constraints are introduced to improve the transient performance of the residual dynamic. Finally, simulation results are provided to indicate the effectiveness of the proposed technique.