Cooperative Robust Output Regulation for Networks of Hyperbolic Systems With Unknown Signal Models

This Paper considers the cooperative robust output regulation problem for networks of heterodirectional hyperbolic systems, where the leader and disturbance dynamics are unknown to the followers. For this, a diffusively driven internal model is used, whose parameters are updated using an adaptive cooperative observer. The latter only communicates the coefficients of the characteristic polynomials related to the signal models. Hence, a minimal communication load is ensured, as, in addition, only the control inputs of the regulator have to be exchanged through the network. The adaptive internal model also ensures cooperative output regulation in the presence of model uncertainties, that do not destabilize the closed-loop system. A systematic backstepping approach is presented for stabilizing the uncertain closed-loop system. For this, solvability conditions are derived in terms of the agents transfer behaviour and the network topology. The presented adaptive regulator is validated in simulations for a network of three uncertain hyperbolic agents.