Optimal output regulation for heterogeneous descriptor multi-agent systems

Abstract

This paper studies the cooperative optimal output regulation problem for general heterogeneous descriptor multi-agent systems under a directed topology containing a spanning tree. First, a distributed observer is presented for each agent to estimate the state information of the exogenous system. Then, the optimal state feedback control and the optimal output feedback control based on a reduced-order normal observer are designed respectively to make the output of each agent track to the reference output and minimize given performance functions simultaneously. Under some standard assumptions and employing some appropriate coordinate transformations, it’s shown that both distributed protocols can solve the optimal output regulation problems, and the optimal feedback gains are obtained by solving a set of generalized Riccati equations. Finally, two numerical examples demonstrate the effectiveness of the proposed approach.