Cooperative Tracking and Disturbance Suppression: A Classical Approach

In this paper, the cooperative tracking problem of multiagent systems with a determinate disturbance input is analyzed. The communication topology of single-input-single-output (SISO) general linear node dynamics is directed and time invariant. Throughout this paper, the distributed control issue of multiagent systems is viewed and tackled as an output regulation problem and a distributed cooperative control law based on relative output measurements is proposed using classic pole assignment technique. Moreover, the notion of complex vector root locus (CVRL) is introduced, which is a generalization of classical root locus method, to analyze the stability of the control system.