| Summary: | This paper solves the distributed fault detection (FD) problem for heterogeneous multi-agent systems (MAS). For a heterogeneous MAS, we adopt a distributed control law to realise cooperative output regulation (COR) when no fault occurs in the MAS, and propose a state-feedback-based FD scheme, where the adopted distributed control law and proposed FD scheme all utilise state information. Furthermore, we consider the condition that state information is unmeasurable, the output-feedback-based distributed FD scheme is proposed, and the adopted distributed control law also utilises measurement output. Finally, two numerical examples are utilised to verify that the proposed distributed FD schemes could locate and remove the faulty agent in time.
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