Distributed fault detection for nonlinear multi-agent systems under fixed-time observer

This paper mainly investigates the fault detection problem for nonlinear multi-agent systems with actuator faults. For fault detection, a fixed-time observer is proposed by employing auxiliary variable received from neighbor agents. Then, with the aid of the observer, a residual vector is introduced by the auxiliary variable to detect the faults occurring on any followers, and each observer can estimate the whole state of followers. Moreover, the convergence time is dependent on the parameters of the designed observer and independent of initial condition of system state. Finally, the theoretical result is verified by a simulation example. (C) 2019 Published by Elsevier Ltd on behalf of The Franklin Institute.