Fault Detection and Isolation of Multi-Agent Systems via Complex Laplacian

Ghasemi, A.; Askari Marnani, J.; Menhaj, M. B.

doi:10.22060/miscj.2016.830

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	Fault Detection and Isolation of Multi-Agent Systems via Complex Laplacian
AUT Journal of Modeling and Simulation
مقاله 9، دوره 49، شماره 1، شهریور 2017، صفحه 95-102 اصل مقاله (4 M)
نوع مقاله: Research Article
شناسه دیجیتال (DOI): 10.22060/miscj.2016.830
نویسندگان
A. Ghasemi^* ¹؛ J. Askari Marnani²؛ M. B. Menhaj³
¹Department of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan, Iran 2
²Department of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan, Iran
³Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran
چکیده
This paper studies the problem of fault detection and isolation (FDI) for multi-agent systems (MAS) via complex Laplacian subject to actuator faults. A planar formation of point agents in the plane using simple and linear interaction rules related to complex Laplacian is achieved. The communication network is a directed, and yet connected graph with a fixed topology. The loss of symmetry in the digraph Laplacian matrix is also considered. Both the partial actuator effectiveness and the actuator bias faults are taken into account. For this purpose, a virtual agent whose dynamics structure is identical to that of the leader agent is introduced to determine the center of planar formation. The FDI scheme requires no additional fault isolation model which is a necessary part in the traditional active FDI scheme. Finally, numerical example results are presented to show the effectiveness of the proposed scheme.
کلیدواژه‌ها
Fault Detection and Isolation؛ multi-agent systems؛ Complex Laplacian

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Fault Detection and Isolation of Multi-Agent Systems via Complex Laplacian