Distributed Fault Estimation for Uncertain Multi-Agent Systems with Polynomial Faults

This article presents a fault estimation scheme for multi-agent systems with parameter uncertainties, incorporating polynomial faults and external disturbances. First, a novel composite observer for uncertain multi-agent systems is introduced, capable of accurately estimating both the state and faults even in the presence of external disturbances. Second, faults are modeled as polynomial functions of time, offering a more precise representation of various fault types. Finally, the effectiveness of the proposed approach is validated through numerical simulations.