Fault Estimation Observer Design for a Class of Nonlinear Multi-agent Systems With Time-Delay

This paper is aimed at the fault estimation observer design method for a class of Lipschitz nonlinear multi-agent systems with time delay subjected to actuator fault. First, an augmented system is obtained, and we get the global state equation of the multi-agent systems by the properties of Kronecker. Next, a relative output estimation error is defined according to the directed communication topology and the observer of fault estimation is designed. Besides, we discuss the performance of the observer in the entire frequency domain and the finite frequency domain respectively. Finally, the results of simulation are presented to illustrate the feasibility of the designed method.