Distributed output regulation of heterogeneous uncertain linear agents

Abstract

We study a multi-agent output regulation problem, where only a few agents have access to the exosystem’s dynamics. We propose a fully distributed controller that solves the problem for linear, heterogeneous, non-minimum-phase, and uncertain agent dynamics as well as time-varying directed networks. The distributed controller consists of two parts: (1) an exosystem generator that locally estimates the exosystem dynamics, and (2) a dynamic compensator that, by locally approaching the internal model of the exosystem, achieves perfect output regulation. Compared to the existing results in the literature, our solution is the first to solve the distributed output regulation problem where not all agents have access to information of the exosystem and the agent dynamics are uncertain and non-minimum-phase.