Distributed Event‐Triggered Fault Detection for Multi‐Agent Systems via Zonotopic Residual Evaluation

Considering the constrained communication resources, this paper proposes a zonotopic residual evaluation fault detection (FD) method based on an event‐triggered mechanism for multi‐agent systems with unknown‐but‐bounded disturbances. Specifically, FD filters are designed using performance indicators. The performance index is employed to enhance the system's robustness against external disturbances, while the performance index is utilized to improve the detection accuracy of the FD filters. Furthermore, a residual interval estimation and residual evaluation mechanism are constructed using Zonotopes under fault‐free conditions, effectively reducing the impact of bounded amplitude disturbances on the residuals. Lastly, the applicability of the developed method is validated via vehicle lateral dynamics simulation.