An H∞/H∞ optimization technique to distributed fault detection for multi-agent systems based on event-triggered mechanism

This paper proposes an H∞/H∞ optimization technique to distributed fault detection (FD) for multi-agent systems (MASs). To simultaneously consider the effects of unknown disturbances and faults in the MASs and event-triggered transmission errors (ETTEs) on the residual signal, a residual generator related to the event-triggered threshold coefficient is designed. The generated residuals achieve the best compromise between robustness to unknown disturbances and sensitivity to faults. The obtained results have a better detection performance by using H∞/H∞ optimization technique compared with other optimized schemes. In addition, the applicability of the proposed H∞/H∞ optimized distributed FD scheme is verified by the simulation of a vehicle lateral dynamic system.