Fault estimation for multi-agent systems with actuator faults under switching topologies based on an intermediate observer

This paper addresses the problem of fault estimation in multi-agent systems with actuator faults under switching topologies. Initially, a fault observer incorporating intermediate variables is designed to estimate faults occurring in agents within the switching topology. Furthermore, an event-triggered mechanism based on periodic sampling is introduced between the sensors and the fault observer to optimize communication resource usage. Finally, a simulation example is presented to validate the proposed fault estimation method for multi-agent systems, effectively demonstrating the efficacy of the approach.