Robust cooperative output regulation for linear multi-agent systems with unknown leader and disturbances

The aim of this paper is to solve the robust cooperative output regulation problem for networks of LTI systems in the presence of model uncertainties and disturbances, where the dynamics of the leader and disturbances are not known to the follower agents, but only to the leader. To solve this problem, the unknown dynamics of the external signals are estimated online by a networked observer that is used to continuously update a cooperative $p$-copy internal model. By determining a distributed state feedback controller a cooperative adaptive state feedback regulator is obtained. Conditions for the solution of the considered cooperative output regulation problem are formulated in terms of the agent’s transfer behaviour and the communication topology. For the adaptation of the feedback gains a sample-and-hold approach is presented. Asymptotic closed-loop stability and robust cooperative output regulation are verified. A multi-agent system consisting of three uncertain LTI agents is used to validate the presented approach.