This paper investigates a design framework for a class of distributed interconnected systems, where a fault diagnosis scheme and a cooperative fault-tolerant control scheme are included. First of all, fault detection observers are designed for the interconnected subsystems, and the detection results will be spread to all subsystems in the form of a broadcast. Then, to locate the faulty subsystem accurately, fault isolation observers are further designed for the alarming subsystems in turn with the aid of an adaptive fault estimation technique. Based on this, the fault estimation information is used to compensate for the residuals, and then isolation decision logic is conducted. Moreover, the cooperative fault-tolerant control unit, where state feedback and cooperative compensation are both utilized, is introduced to ensure the stability of the whole system. Finally, the simulation of intelligent unmanned vehicle platooning is adopted to demonstrate the applicability and effectiveness of the proposed design framework.
Keywords: cooperative fault-tolerant control; distributed fault diagnosis; distributed interconnected systems; fault isolation.