Chapter Fourteen - Certainty Equivalence, Separation Principle, and Cooperative Output Regulation of Multiagent Systems by the Distributed Observer Approach

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The cooperative output regulation problem of linear multiagent systems was formulated and studied by the distributed observer approach presented in Su and Huang (2012a,b). Since then, several variants and extensions have been proposed, and the technique of the distributed observer has also been applied to such problems as formation, rendezvous, and flocking. In this chapter we first present a more general formulation of the cooperative output regulation problem for linear multiagent systems that includes some existing versions of the cooperative output regulation problem as special cases. Then we describe a more general distributed observer. Finally, we simplify the proof of the main results by more explicitly using the separation principle and the certainty equivalence principle.