Robust Cooperative Output Regulation of Heterogeneous Uncertain Linear Multiagent Systems With Time-Varying Communication Topologies

This article investigates the robust cooperative output regulation problem for heterogeneous uncertain linear multiagent systems, with time-varying communication topologies. Suppose that the considered systems are detectable by all measurements, rather than the conventional regulated output alone. Under this weaker detectability condition, a new distributed regulator via partial state feedback is first established with the addition of an integrator to the input channel. This is then extended to obtain the practical cooperative output regulation via measurement feedback with the employment of an extended high-gain observer.