Consensus based overlapping decentralized observer for fault detection and isolation

In this paper a new fault detection and isolation (FDI) observer is proposed in the form of a multi-agent network based on a combination of local optimal stochastic FDI observers and a dynamic consensus strategy. It is shown that the proposed algorithm can generate residuals which provide, under general conditions concerning local models and the network topology, high efficiency, scalability and robustness of the whole estimation scheme. It is demonstrated that the consensus gains can be obtained by minimizing a suitably defined criterion function. A number of examples illustrate the applicability of the proposed methodology in practice.