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This paper investigates the incipient fault-tolerant problem of heterogeneous multiagent systems and applies the proposed method to the wireless power transfer grid. Firstly, a novel extended state observer is designed for every follower system, which not only relative output information of its agent but also contains output information of neighboring agents. Then, a state estimation feedback control scheme is proposed to compensate for the time delay and incipient faults effectively. It is worth noting that the proposed observer-based control strategy distributes the weight of the output information error. Therefore, the observer has higher adjustability and more substantial applicability. Further, we make a consistent analysis of the system under the proposed control scheme with the Lyapunov–Krasovskii theory that the sufficient conditions can be formed for the stability of the system. Finally, the validity of the proposed control scheme is demonstrated through numerical and application examples. [ABSTRACT FROM AUTHOR]