Distributed output regulation of heterogeneous linear multi-agent systems with communication constraints

This paper deals with the cooperative output regulation problem for heterogeneous linear multi-agent systems in the presence of communication constraints. We present a distributed control algorithm, relying on mild assumptions on the directed graph topology, that solves the problem with intermittent and asynchronous discrete-time information exchange and unknown time-varying delays and possible information losses. A numerical example is given to illustrate our results.