Decentralized fault detection for a class of large-scale nonlinear uncertain systems

In this paper, a decentralized fault detection scheme is developed for a class of distributed large-scale nonlinear uncertain systems. For each subsystem in the large-scale system, a fault detection estimator is designed by utilizing local measurements and certain communicated information from interconnected subsystems. Under certain assumptions, adaptive threshold for fault detection in each local subsystem is derived, and the robustness property of the decentralized fault detection scheme is investigated. A simulation example of automated highway systems is used to illustrate the effectiveness of the proposed method.