Cooperative output regulation of linear multi-agent systems subject to an uncertain leader system

ABSTRACT

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

Keywords:

• Adaptive control
• networked control systems
• consensus
• cooperative output regulation
• distributed observer for uncertain leader system

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work has been supported by the Research Grants Council of the Hong Kong Special Administration Region [grant number 14219516], and by Projects of Major International (Regional) Joint Research Program NSFC [grant number 61720106011].