Fault Detection for High-order Multi-agent Systems with Disturbances

In this paper, fault detection for a class of high-order multi-agent systems with disturbances is researched. Though considering faults and disturbances as unknown input, we construct observers in an agent with respect to its each neighbor agent, and obtain the corresponding residuals, which are produced by these observer errors. We can monitor whether there is a neighbor agent with faults by comparing residuals with the given thresholds, and the residuals are robust to all type of disturbances since disturbances do not appear in observer errors. Simulations are given to demonstrate the effectiveness of the proposed method.