SCIENCE CHINA Information Sciences, Volume 61 , Issue 9 : 092206(2018) https://doi.org/10.1007/s11432-017-9255-2

Cooperative output regulation for linear uncertain MIMO multi-agent systems by output feedback

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  • ReceivedJul 17, 2017
  • AcceptedSep 22, 2017
  • PublishedMay 22, 2018


In this paper, we study the cooperative output regulation problem for a class of general linear uncertain multi-input multi-output (MIMO) multi-agent systems subject toa well-defined vector relative degree. By proposing some suitable internal model, the problem is first converted into the auxiliary cooperative stabilization problem of the augmented system in the so-called strict feedback normal form. This auxiliary problem is then solved by some developed robust control techniques, such as multiple high-gain feedback and mixed distributed observer, leading to an effective distributed output feedback regulator synthesis for the original cooperative output regulation problem.


This work was supported by National Natural Science Foundation of China (Grant No. 61403082) and Natural Science Foundation of Fujian Province (Grant No. 2016J06014).


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  • Figure 1

    The digraph $\bar{\mathcal{G}}_i$.


    Algorithm 1 Synthesis for distributed output feedback controller 10

    Output:Assumptions zy-ass-01 and zy-ass-02 hold for systems 1 and 2.

    Find the minimum polynomial of $S$ and determine the matrix $\Phi,~\Gamma$;

    {by 5}

    Find any controllable pair $M$ and $Q$;

    {by the Hurwitz matrix $M$}

    Get $T$ and $\Psi=\Gamma~T^{-1}$;

    {by solving $T\Phi-MT=Q\Gamma$}

    Define the internal model and form the augmented system;

    {by 6 and 7}

    Determine the distributed state feedback gain $K_i$;

    {by 19}

    Determine the observer gains $h_i$ and $\tau_i$ in sequence;

    {by 32 and 33}

    Find matrices $G_{1i},~G_{2i},~G_{3i},~G_{4i}$.

    {by 34 and 35}

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