Semi-Distributed Intermediate Observer for Heterogeneous Multi-Agent Systems with Homologous Fault
Jie Sheng, Youqing Wang · 2022 IEEE 11th Data Driven Control and Learning Systems Conference (DDCLS) · 2022
In this study, the homologous fault estimation problem is considered for continuous time multi-agent systems with actuator faults. A semi-distributed intermediate observer is proposed to estimate the system state and fault simultaneously. The observer does not require the system to satisfy the strict positive real condition and the observer matching condition. The design of the observer not only uses neighbors' information but also optimizes the utilization efficiency of neighbors' information, which is beneficial to the performance of the observer and reduces the communication burden. When the communication topology is a directed graph, a sufficient condition is given to ensure that the state and fault estimation errors are uniformly ultimately bounded. The linear matrix inequality technique is used to calculate the observer parameter. Finally, simulation results verify the effectiveness of the proposed method.