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Paper details
Number 3 - September 2020
Volume 30 - 2020
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.
Keywords
multiagent systems, fault estimation, state and fault observers, linear matrix inequalities