Abstract
ABSTRACT In this paper, we study the cooperative output regulation problem of linear heterogeneous multi-agent systems subject to an uncertain leader system. A key component of our control law is the adaptive distributed observer for an uncertain leader system proposed recently by ourselves. We first show that this adaptive distributed observer is capable of estimating the unknown parameter vector of the leader system exponentially as long as the leader's signal is persistently exciting. Then, we further solve our problem by both distributed state feedback control law and distributed measurement output feedback control law utilising the adaptive distributed observer.
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