Compensating for Communication Channels Effects in the FDI Problem

This chapter deals with the problem of fault detection and isolation in a network of unmanned vehicles when there exist imperfect communication channels among the vehicles. A discrete-time communication link having a stochastic packet dropping effect is considered based on the Gilbert-Elliott model [62, 78] which is known as the packet erasure channel model. It is shown that the entire network can be modeled as a discrete-time Markovian Jump System (MJS). This problem is then treated in the general framework of Markovian jump systems. This motivates us to develop a geometric FDI framework for both continuous-time and discrete-time Markovian jump systems and apply the developed scheme to FDI of a network of unmanned vehicles in presence of imperfect communication channels. The work presented in this chapter has partially appeared in [130, 137, 133, 134, 132].