Distributed fault estimation observer design for nonlinear multi‐agent systems with directed graphs

Abstract This paper addresses the issue of fault estimation in nonlinear multi‐agent systems characterized by a leader–follower structure within directed graphs. The proposed approach begins by developing a distributed fault observer that utilizes relative output estimation error. Subsequently, a dynamic error system is constructed to convert the fault estimation problem into a stability problem for the dynamic error system. Finally, the conditions for achieving asymptotic boundedness of the dynamic error system are presented in the form of linear matrix inequalities. Simulation results substantiate the efficacy of the proposed method, revealing the ability of the distributed fault observer to accurately estimate faults occurring in multiple followers of the multi‐agent system.