Decentralized Observer Design for Heterogeneous Multi-agent Systems with Fault Bound Estimation

This study proposes an observer-based decentralized state estimation strategy with fault bound estimation for heterogeneous multi-agent systems in the presence of matched disturbances, actuator faults and nonlinear interactions. The combination of the local observer in the decentralized structure based on the available output information and the sliding-mode technique is designed so that the state estimation error is ultimately bounded and the matched disturbances, actuator faults and interactions can be compensated with the adaptive law. Finally, the numerical simulation is conducted to verify the effectiveness of the proposed decentralized fault estimation algorithm.