Robust Fault Estimation Using Relative Information in Linear Multi-Agent Networks

In this technical note, a robust fault estimation method, based on sliding mode observers, is proposed for a collection of agents undertaking a shared task and exchanging only relative information over a communication network. Since the `system of systems´ formed by the agents is not observable with respect to relative sensing information, by appropriate transformations and scalings of the inputs and outputs of the actual system, a meaningful observable subsystem is created. For this new subsystem, after modal decomposition based on the associated Laplacian, decoupled sliding mode observers, depending only on the individual node level dynamics of the network, can be created exploiting an existing design philosophy. These collectively form a centralized fault estimation scheme for the original system.