Distributed Cooperative Fault Detection for Multiagent Systems: A Mixed H∞/H₂ Optimization Approach

This paper handles the distributed cooperative fault detection problem for multiagent systems (MASs) with additive type of faults and external disturbances. A distributed cooperative fault detection scheme is proposed through which the strict requirement on single agent's performance can be released. Moreover, a mixed H∞/H2optimization approach is presented to guarantee that the cooperative fault detection scheme can get a proper compromise between sensitivity to faults and robustness to disturbances on the network level. In order to be applicable with MASs, a distributed implementation of the proposed scheme is developed by applying an iterative approach. Effectiveness and improvements of the proposed scheme are validated on a multivehicle experimental platform.