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Distributed cooperative fault detection for multi-agent system with packet dropout

In this article, the problem of distributed cooperative fault detection (FD) for multi-agent system with packet dropout is described. Firstly, fault modeling is carried out for this system with packet dropout. Secondly, the best reference model without packet dropout is established, and the residual generator is constructed by the model matching strategy, so that the residual signal can approach to the reference model. According to the above work, an information fusion rule based on Dempster-Shafer evidence theory for conflict evidence is used to fuse the confidence of nodes in local sub-network, and the distributed cooperation residual is calculated. Finally, combined with residual evaluation, a simulation test is carried out. The comparison of simulation results with and without cooperation shows that distributed cooperation between nodes can reduce the impact on fault detection with packet dropout and improve the property of fault detection.