# A Distributed Control Approach for Heterogeneous Linear Multiagent Systems

## TL;DR

This paper introduces a distributed control method for heterogeneous linear multiagent systems, enabling cooperative output regulation over directed graphs, with new problem definitions and control laws supported by theoretical conditions and numerical examples.

## Contribution

It proposes a new definition of the cooperative output regulation problem and analyzes its solvability using three distributed control laws for heterogeneous multiagent systems.

## Key findings

- New definition of cooperative output regulation broadening function tracking capabilities.
- Conditions for solvability of the problem with different control laws are established.
- Numerical examples demonstrate the effectiveness of the proposed control strategies.

## Abstract

This paper considers an internal model based distributed control approach to the cooperative output regulation problem of heterogeneous linear time-invariant multiagent systems over fixed directed communication graph topologies. First, a new definition of the linear cooperative output regulation problem is introduced in order to allow a broad class of functions to be tracked and rejected by a network of agents. Second, the solvability of this problem with three distributed control laws, namely dynamic state feedback, dynamic output feedback with local measurement, and dynamic output feedback, is investigated by first considering a global condition and then providing an agent-wise local sufficient condition under standard assumptions. Finally, two numerical examples are provided to illustrate the selected contributions of this paper.