Cooperative fault estimation for linear multi-agent systems with undirected graphs

摘要

Fault estimation problem for linear multi-agent systems with undirected graphs is studied. A two-layer observer based on the relative measured output information is proposed, and specially it utilises the transformation of relative output rather than the absolute one. The integral action is used to construct an adaptive fault estimator for improving the estimation performance. The fault estimation is introduced back into the observer so that fault estimation problem can be considered as stabilisation problem of the observer error dynamics. Finally, simulations are undertaken for validating the effectiveness of the theoretical results.