Cooperative Output Regulation of Linear Multi-agent Systems with Communication Constraints

TL;DR

This paper develops a distributed control method for heterogeneous linear multi-agent systems to achieve cooperative output regulation despite communication constraints like delays and data losses.

Contribution

It introduces a novel asynchronous, intermittent communication protocol that guarantees regulation under arbitrary communication patterns and mild network assumptions.

Findings

Achieves cooperative output regulation with unknown delays and losses.

Works under arbitrary communication schedules and mild network conditions.

Validated with a numerical example demonstrating effectiveness.

Abstract

In this paper, we consider the cooperative output regulation problem for heterogeneous linear multi-agent systems in the presence of communication constraints. Under standard assumptions on the agents dynamics, we propose a distributed control algorithm relying on intermittent and asynchronous discrete-time information exchange that can be subject to unknown time-varying delays and information losses. We show that cooperative output regulation can be reached for arbitrary characteristics of the discrete-time communication process and under mild assumptions on the interconnection topology between agents. A numerical example is given to illustrate the effectiveness of our theoretical results.