Adaptive Fault Detection and Estimation for a Class of Nonlinear Multi-Agent Systems With Sensor Faults

In this paper, a class of nonlinear systems with sensor faults are investigated through adaptive fault detection and estimation, and an adaptive adjacency observer is proposed to detect and estimate faults. Based on the directed graph and Lyapunov stability theory, it is proved that in a closed-loop system, the error signals detected and estimated from all neighboring nodes converge to an adjustable bounded signal. The final simulation results verify the effectiveness of the proposed method.