Distributed fault estimation of multi-agent systems using a proportional-integral observer: A leader-following application
Beltrán Farrera, Francisco‐Ronay López‐Estrada, Mohammed Chadli, Guillermo Valencia‐Palomo, Samuel Gómez‐Peñate
Abstract
This paper proposes a methodology for observer-based fault estimation of leader-following linear multi-agent systems subject to actuator faults. First, a proportional-integral distributed fault estimation observer is developed to estimate both actuator faults and states of each follower agent by considering directed and undirected graph topologies. Second, based on the proposed quadratic Lyapunov equation, sufficient conditions for the asymptotic convergence of the observer are obtained as a set of linear matrix inequalities. Finally, a numerical example is provided to illustrate the proposed approach.
Topics & Concepts
Observer (physics)EstimationControl theory (sociology)Fault (geology)Computer scienceEngineeringGeologyArtificial intelligenceControl (management)PhysicsSeismologySystems engineeringQuantum mechanicsDistributed Control Multi-Agent SystemsAdvanced Control Systems OptimizationReinforcement Learning in Robotics