Distributed fault detection for uncertain nonlinear systems: A network delay compensation strategy

This paper proposes a delay compensation strategy for a distributed fault detection architecture, allowing to manage delays and packet losses in the communication network between the Local Fault Diagnosers. A novel consensus-based estimator with time-varying weights is introduced, permitting to improve detectability in the case of variables shared among more than one subsystem. In the consensus protocol, at each step each agent uses only the information given by the agent and the communication link which are more reliable at that time. The convergence of the proposed estimator is demonstrated and analytical conditions for detectability are derived.