Distributed Fault Estimation of Multi-Agent System Based on Intermediate Estimator
Shenquan Wang, Changbei Zhao, Shuaiqi Chen, Yang Liu · 2021 China Automation Congress (CAC) · 2021
In this paper, a distributed fault estimation observer based on intermediate estimator method is studied, which eliminates the constraints of observer matching conditions on fault estimation. First, the relative output estimation errors of MASs and intermediate estimator system are established based on communication topology. Second, we constructed a new Lyapunov function containing both original system state and intermediate estimation variables, the sufficient conditions for the stability of the global dynamic error system are obtained, and the gain matrix of the distributed fault estimation observer is calculated. At the end of this paper, the effectiveness and feasibility of the developed method are illustrated in two cases: the system satisfies and not satisfy the observer matching condition.