Robust Fault/Disturbance Estimation for Nonlinear Stochastic Multi‐Agent Systems With Multiple Exogenous Disturbances

ABSTRACT The problem of actuator and sensor fault estimation for a class of nonlinear multi‐agent systems with multiple exogenous disturbances and stochastic noise is studied. By considering the centralized and the distributed output feedback simultaneously, the new intermediate observer and disturbance observer are designed to estimate the system state, actuator fault, and sensor fault simultaneously. In the designed observers, the observer matching condition is not required. Different from the existing results, it is assumed that different agents have different exogenous disturbance systems. Schur decomposition is introduced to reduce the computational complexity. Specifically, if the disturbance system parameters of different agents are the same, the calculation amount is the same as that for a single agent. Finally, the effectiveness of the proposed method is verified by simulations.