Simultaneous Stochastic Fault Detection and Consensus Control in Multi-Agent Systems

In this paper we address the problem of Simultaneous Fault Detection and Consensus Control (SFDDC) in linear multi-agent systems with the fault signal happening randomly. A distributed detection filter is proposed. All agents reach a state consensus while detecting fault in themselves and each other by sharing their information. The fault signal is considered as a Markov process chain. To determine filter parameters, Linear Matrix inequalities(LMI) have been introduced and in the end, a numerical consensus problem of a multi-agent system has been solved.