Output regulation for heterogeneous linear multi-agent systems based on distributed internal model compensator

This article considers robust output regulation of uncertain heterogeneous multi-agent systems in the case that all the agents have non-identical nominal dynamics. The directed communication graph contains a spanning tree and the exosystem is as its root. Since not all the agents can access the information of the exosystem, the distributed compensator is used for the unaccessible part. The dynamic state feedback control law and dynamic output feedback control law are proposed under this topological structure. Then we give a novel compact form and a general global method to solve the robust output regulation problem based on internal model principle. Finally, some examples are presented to illustrate the effectiveness of our results.