Fully Distributed Adaptive Controllers for Cooperative Output Regulation of Heterogeneous Linear Multi-agent Systems with Directed Graphs

This paper considers the cooperative output regulation problem for linear multi-agent systems with a directed communication graph, heterogeneous linear subsystems, and an exosystem whose output is available to only a subset of subsystems. Both the cases with nominal and uncertain linear subsystems are studied. For the case with nominal linear subsystems, a distributed adaptive observer-based controller is designed, where the distributed adaptive observer is implemented for the subsystems to estimate the exogenous signal. For the case with uncertain linear subsystems, the proposed distributed observer and the internal model principle are combined to solve the robust cooperative output regulation problem. Compared with the existing works, one main contribution of this paper is that the proposed control schemes can be designed and implemented by each subsystem in a fully distributed fashion for general directed graphs. For the special case with undirected graphs, a distributed output feedback control law is further presented.Comment: 8 pages, 2 figures. submitted for publicatio

Event-triggered output consensus for linear multi-agent systems via adaptive distributed observer

summary:This paper investigates the distributed event-triggered cooperative output regulation problem for heterogeneous linear continuous-time multi-agent systems (MASs). To eliminate the requirement of continuous communication among interacting following agents, an event-triggered adaptive distributed observer is skillfully devised. Furthermore, a class of closed-loop estimators is constructed and implemented on each agent such that the triggering times on each agent can be significantly reduced while at the same time the desired control performance can be preserved. Compared with the existing open-loop estimators, the proposed estimators can provide more accurate state estimates during each triggering period. It is further shown that the concerned cooperative output regulation problem can be effectively resolved under the proposed control scheme and the undesirable Zeno behavior can be excluded. Finally, the effectiveness of the proposed results is verified by numerical simulations