Distributed Fault Detection and Isolation Filter Design for Heterogeneous Multi-agent LPV Systems

In this paper, we present a new approach for the design of fault detection and isolation (FDI) filters for a class of linear parameter-varying (LPV) multi-agent systems, where the state-space representations of the agents are not identical. The developed formulation for the fault detection and isolation offers a distributed filter design method, in which each agent uses sensor measurements both locally and from the neighboring agents. Each FDI filter is in the "unknown input observer" form which are designed so that their outputs, i.e., residual signals, are: (i) robust with respect to the external disturbance inputs, and (ii) sensitive with respect to the fault signals. Finally, a numerical example is given to illustrate the efficacy of the main results of the paper.