Cooperative output regulation for networks of hyperbolic systems using adaptive cooperative observers

Abstract

This paper is concerned with the cooperative output regulation problem for heterogeneous networks of hyperbolic agents. Both the leaders’ output as well as the disturbances are generated by finite-dimensional signal models that are unknown to the followers. An adaptive cooperative reference observer is employed and an infinite-dimensional adaptive cooperative disturbance observer is designed using the backstepping approach to estimate both the states and the signal model parameters. By combining them with a local state feedback regulator, an adaptive cooperative output feedback regulator results. It is shown that the resulting network controlled multi-agent system achieves asymptotic leader–follower output synchronization. The results of the paper are illustrated for a heterogeneous network of three hyperbolic agents in simulations.