Distributed fault estimation intermediate observer design for a class of stochastic multi-agent systems

This study addresses the challenge of robust distributed fault estimation in stochastic multi-agent systems (MASs), employing an innovative approach based on intermediate observers. We assume a directed communication topology for the MASs under consideration. Our method presents a new distributed intermediate estimator, engineered to accurately determine the systems internal state in real-time, even amidst faults and random disturbances. By developing a precise error system model, we facilitate a thorough analysis of the discrepancies between actual and estimated states, thus guaranteeing the system's eventual bounded stability. The efficacy of our methodology is demonstrated by a numerical example.