fault detection and isolation of multi-agent systems via complex laplacian

This paper studies the problem of fault detection and isolation (fdi) for multiagent systems (mas) via complex laplacian subject to actuator faults. a planar formation of point agents in the plane using simple and linear interaction rules related to complex laplacian is achieved. the communication network is a directed, and yet connected graph with a fixed topology. the loss of symmetry in the digraph laplacian matrix is also considered. both the partial actuator effectiveness and the actuator bias faults are taken into account. for this purpose, a virtual agent whose dynamics structure is identical to that of the leader agent is introduced to determine the center of planar formation. the fdi scheme requires no additional fault isolation model which is a necessary part in the traditional active fdi scheme. finally, numerical example results are presented to show the effectiveness of the proposed scheme.