Fault detection and isolation for multi-agent systems with directed topology

In this paper, the fault detection and isolation problem for multi-agent systems with directed topology is investigated. A novel fault detection and isolation strategy is proposed. Using relative information between the agent and its neighbours, observers can be designed. It is proved that the existence conditions of observers for multi-agent system are the existence conditions of unknown input observer for the single system, which can be accomplished easily. Moreover, by the generated residual signal and the corresponding algorithm, the faulty agent can be detected simply. Compared with other results, our method decreases the number of observers and reduces the computing loads to a large extent.