Distributed control of linear multiagent systems with global and local objectives

In this paper, we consider distributed control problems for high-order linear time-invariant multiagent systems with not only global but also local objectives over fixed directed communication graph topologies. The former is either leaderless synchronization or synchronization to a leader. Local objectives for a subset of agents, on the other hand, are tasks determined around the global objective by agent-specific exosystems. First, we construct reference models for all agents via two existing synchronization results, introduce two classes of distributed controllers, and define the considered problems. We then solve them by utilizing the converging-input converging-state property for a class of linear systems and the feedforward design methodology from the linear output regulation theory. Finally, numerical examples are presented to demonstrate the problems and the theoretical results. (C) 2021 Elsevier B.V. All rights reserved.