Fully Distributed Cooperative Output Regulation for Heterogeneous Linear Parameter-Varying Systems With Directed Graphs

Abstract

In this paper, the cooperative output regulation problem of heterogeneous linear parameter-varying multi-agent systems under directed graphs is studied. It is assumed that only a few agents get access to the exosystem and no agent is aware of the topological information. For the purpose of avoiding directly employing global information, a finite-time fully distributed adaptive observer under directed communication graph is proposed to estimate the exosystem without using global information. In addition, a finite-time estimation algorithm is given to estimate the solutions of linear parameter-varying regulation equations without knowing exosystem matrix a prior. Based on which, a fully distributed cooperative output regulation controller is formulated so that the linear parameter-varying multi-agents system can achieve cooperative output regulation, which extends the applicability of the existing works of time-invariant systems to parameter-varying settings.