Robust cooperative output regulation of a linear multi-agent system with incomplete exosystem measurement

Abstract

This paper considers the robust cooperative output regulation problem for a class of linear uncertain multi-agent systems. It is assumed that the agents in the system can only access incomplete measurements of the exosystem, and the local regulated error signals are not available to the agents to be used in control. Under these assumptions, the agents in the system cannot independently reconstruct the exosystem dynamics, or rely on their own local measurements to achieve the objectives of the output regulation problem. The solution to the regulation problem proposed in this paper is a distributed dynamic control law that reconstructs the exosystem states, given a mild collective detectability assumption. Furthermore, the proposed distributed control law incorporates an internal model of the exosystem to allow for uncertain dynamics of the multi-agent system. A numerical example is offered to illustrate the effectiveness of the proposed control solution.