Regulated Output Synchronization of Multi-Agent Systems via Output Feedback

Abstract

In this paper we propose a novel distributed algorithm for cooperative output regulation in networks of agents with identical dynamics. Namely, each agent utilizes local and relative output information in order to synchronize its output to the reference trajectory provided by a single node in the network. Stability analysis is carried out by the means of small-gain theorem, and it is shown that control synthesis comes down to a $\mathcal{H}_{\infty}$ static output feedback problem. Simulation results that verify the effectiveness of the proposed algorithm are provided.