Internal model approach to cooperative output regulation of uncertain time‐delay multi-agent systems

What is it about?

We study the cooperative robust output regulation problem for linear uncertain multi-agent systems with both communication delay and input delay by the distributed internal model approach. We first generalize the internal model design method to systems with both communication delay and input delay. Then, under a set of standard assumptions, we have obtained the solution to the problem via both the state feedback control law and the output feedback control law. In contrast to the existing results, our results apply to general linear uncertain multi-agent systems, accommodate a large class of leader signals, and achieve asymptotic tracking and disturbance rejection at the same time.

Featured Image

Why is it important?

The cooperative output regulation problem is important because its formulation includes the leader-following consensus, synchronization, or formation as its special cases. It is the first time that the communication delay and input delay are considered in the cooperative robust output regulation problem.

Perspectives