Cooperative output regulation of heterogeneous linear multi-agent systems by the finite-time distributed observer

In this paper, the cooperative output regulation problem without assuming that all the agents should know the system matrix of the exosystem has been investigated. First, a finite-time distributed observer is developed. With this observer, each agent can get the exact state of the exosystem rather than an estimate after a fixed time. Moreover, the corresponding distributed control law is proposed to solve the cooperative output regulation of heterogeneous linear multi-agent systems. With this control law, agents could track the external signal asymptotically and reject the disturbance. Finally, a simulation is given to indicate the effectiveness of the proposed control law.