  The paper deals with the problem of distributed fault detection and isolation
(FDI) for a group of heterogeneous multi-agent systems. The developed formation
for the FDI is taken into account as a distributed observer design methodology,
where the interaction between the agent and its neighbors is described as a
vector of distributed relative output measurements. Based on two performance
indexes $\mathcal{H}_2$ and $\mathcal{H}_{-}$, sufficient conditions are given
to ensure the residual signals robust to the disturbances and sensitive with
respect to the fault signals. In addition, we show that by using our proposed
approach, each agent is able to estimate both its own states and states of its
nearest neighbors in the presence of disturbances and faults. Finally,
numerical simulations are provided to demonstrate the effectiveness of the
theoretically analyzed results.
