Distributed Fault Diagnosis for Multi-Agent Systems Via Complex Laplacian

This paper studies the problem of fault detection for multi-agent systems (MAS) based on complex Laplacian subject to actuator faults. The dynamic motion of each agent is assumed to be convened only by a local control. The communication topology is the directed graph (digraph) with complex weighted connections between the leaders and the followers. First, a distributed Laplacian-based control low is investigated which guarantees the planar formation. Second, we proposed a geometric approach to the problem of fault detection and isolation of formation control for MAS via complex Laplacian. Numerical Simulation results are presented to show the effectiveness of the proposed scheme.