Distributed Event-Triggered Simultaneous Fault Detection and Consensus Control for Multiple Lur'e Systems

In this article, the simultaneous fault detection and consensus control (SFDCC) problem of multiple Lur'e systems is investigated under unknown faults and external disturbances. First, a novel distributed consensus controller based on the distributed event-triggering mechanism and a novel distributed FD method based on the distributed event-triggered observer are developed. In order to design an appropriate consensus controller and a FD observer so that the associated residual signals are susceptible to unknown faults and are robust to external disturbances. A hybrid H-/H∞ method is used to transform the particular design problem into an optimization problem, and sufficient conditions are obtained to satisfy the optimization performance constraints. Then, a residual evaluation method is proposed based on a dynamic residual function threshold. The results show that under the proposed distributed event-triggered SFDCC method, consensus as well as FD of multiple Lur'e systems can be achieved simultaneously. The proposed method could be able to avoid continuous observation of neighboring agents' information, and thus, validly reduce the amount of communication. Moreover, the proposed method could achieve higher accuracy of FD than that based on the traditional static residual function threshold. Finally, the numerical simulation case is performed to demonstrate the availability of the proposed method.