Robust Cooperative Output Regulation of Heterogeneous Uncertain Linear Multi-Agent Systems with Unbounded Distributed Transmission Delays

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Original languageEnglish
Article number9390226
Number of pages13
Journal / PublicationIEEE Transactions on Automatic Control
Online published30 Mar 2021
Publication statusOnline published - 30 Mar 2021


This paper studies the robust cooperative output regulation problem of heterogeneous uncertain linear multiagent systems under unbounded distributed transmission delays. A novel distributed observer is first proposed to estimate the state of an exosystem in the presence of unbounded distributed transmission delays. Then two novel distributed controllers, one based on state feedback and the other based on output feedback, are further developed without any prior knowledge of the unbounded transmission delays. It is shown that the resulting closed loop multi-agent systems can achieve robust cooperative output regulation. It is also shown that better transient performance is achieved with our proposed controllers in contrast to many existing low gain controllers which are proposed to deal with both bounded and unbounded transmission delays. Our results can be directly applied to solve cooperative output regulation problems of multi-agent systems with bounded distributed or constant transmission delays. Furthermore, our results can also be directly applied to solve leader-following consensus problems of multi-agent systems with unbounded distributed, bounded distributed or constant transmission delays. Finally, a simulation example is provided to illustrate the effectiveness of the proposed controllers. 

Research Area(s)

  • Robust cooperative output regulation, unbounded distributed delays, uncertainties, heterogeneous, multi-agent systems