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The problem of distributed fault detection and isolation is investigated for heterogeneous discrete-time multi-agent systems with disturbances. A full-order observer is designed at a special agent to monitor its neighbour agents using local information. Via the technology of linear matrix inequalities, the sufficient conditions are given to ensure the estimation-error residual is robust to the disturbances. By utilizing the full-order observer, detection of the fault occurring at a single agent can be handled. At last, numerical simulations are employed to verify the effectiveness of the theoretically analyzed results.

Observer-Based Distributed Fault Detection and Isolation for Heterogeneous Discrete-Time Multi-Agent Systems With Disturbances