Cooperative Output Regulation of Heterogeneous Continuous-Time Multi-agent Systems

Abstract

First investigates output regulation of linear multi-agent systems with partial unmeasurable agents. All the agents except the exosystem can be classified into two groups. Agents in the first group can be measured by themselves and their neighbors. State variables are not fully accessible for direct communication and full-order Luenberger observers are constructed for the unmeasurable agents. We give a state feedback control law to solve the output regulation problem under the communication topologies based on both measurable and unmeasurable agents. Then robust output regulation of uncertain multi-agent systems is considered in the case that all the agents have nonidentical nominal dynamics. The directed communication graph contains a spanning tree and the exosystem is as its root. Since not all the agents can access the information from the exosystem, the distributed compensator is used for the unaccessible part. The dynamic state feedback control law and dynamic output feedback control law are proposed under this topological structure. Then we give a novel compact form and a general global method to solve the robust output regulation problem based on internal model principle.