Cluster-Based Cooperative Output Regulation of Linear Multi-Agent Systems

This paper is concerned with the cooperative output regulation problem for multi-agent systems under the directed interaction topology. Comparing with the existing work where the exosystem is common for all the agents, a scenario in which the agents track multiple trajectories with different exogenous signals is considered. The main aim of the study is focused on the design of distributed feedback control laws, such that the agents in diverse clusters track the different reference trajectories exponentially, while rejecting the disturbances asymptotically. Considering that all the agents in each cluster cannot access the exogenous signal, the cooperative output regulation problem of the linear single-integrator agents is solved by devising a distributed state feedback control scheme. Furthermore, it is considered that all the states of the plant cannot be accessed by the agents within each cluster either, the cooperative output regulation problem of linear agents is solved by designing a distributed output feedback controller. Sufficient solvability conditions for those two problems are established, which are shown to be necessary and sufficient under some constraints.