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