The invention discloses a multi-intelligent agent system distributed type cooperation fault detection method facing communication time delay. According to the multi-intelligent agent ystem distributedtype cooperation fault detection method facing communication time delay, the influence of communication time delay can be reduced, and the degree of reliability of fault detection is improved. The multi-intelligent agent system distributed type cooperation fault detection method facing communication time delay comprises the following steps that a node dynamical model and a communication time delay model of a multi-intelligent agent system are established; a reference model is established; model matching is carried out with the reference model, and a residual error generator for the multi-intelligent agent system is designed by combining an optimum matching index and a bounded real lemma of a discrete system; all neighbor nodes of a detected node are extracted to establish cooperation fault detection sub-networks for the detected node in the multi-intelligent agent system, by using information interaction of the nodes in the cooperation fault detection sub-networks, the neighbor nodesare enabled to complete detection cooperatively, and a residual error signal result for the detected node is obtained by combining the residual error generator of the multi-intelligent agent system; and the residual error signal result is compared with a preset threshold value function, and a comparative result is used as a fault detection result for judging the detected node.