Cooperative Output Regulation of Linear Multi-Agent Systems by a Novel Distributed Dynamic Compensator

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Original languageEnglish
Article numberA2210182605
Pages (from-to)6481-6488
Journal / PublicationIEEE Transactions on Automatic Control
Issue number12
Online published25 Jan 2017
Publication statusPublished - Dec 2017


In this paper, we study the cooperative output regulation problem for heterogeneous linear multi-agent systems by a distributed feedforward approach. In comparison with existing results for similar problems, a novel distributed dynamic compensator is proposed, which does not need to exchange its state information among the communication network. Thus, it reduces the communication burden and facilitates the implementation of the controller. It is first shown that the problem can be solved by the proposed distributed feedforward controller, where the control gain is designed subject to a small gain condition. Then, inspired by the small gain condition and assuming that the exogeneous signal does not diverge exponentially, we further propose a low gain method to the control gain design and show that the cooperative output regulation problem can be solved by the proposed low gain distributed controller.

Research Area(s)

  • Cooperative control, distributed dynamic compensator, feedforward approach, output regulation, small-gain condition