An Improved Distributed Control on Output Regulation for Heterogeneous Multi-Agent Systems

This paper presents an improved distributed control with state feedback for cooperative output regulation (COR) problem on heterogeneous multi-agent systems (MASs). The objective is to track the desired reference trajectory generated by a common exosystem. The improved distributed control involves a mapping L-d of Laplacian matrix by modifying the parameters structure of the existing protocol. The mapping moves Gersgorin circles of the Laplacian matrix to right. In light of the merit of L-d, the equivalent stabilization problem is solved via positive realness. Importantly the designed parameters are less and easier to be designed than the existing results.