Robust cooperative output regulation for linear multi-agent systems under intermittent measurements

Abstract

This paper addresses the problem of cooperative output regulation for uncertain linear multi-agent systems under asynchronous intermittent measurements. The relevant theory for the solution of the robust output regulation problem with asynchronous intermittent reference transmission for a single agent is first developed, extending the classical assumptions and the invariance condition given by the Francis equations and the internal model principle of the continuous output regulation problem to the hybrid framework. The results obtained for a single agent are then applied to multi-agent systems by developing a novel hybrid distributed observer and control law, despite the communication constraints between agents, which are assumed to share their outputs at asynchronous instants. The controller design is based on a leader–follower scheme with a virtual leader, modeled as an exosystem, and a set of followers, modeled as heterogeneous linear systems with uncertainties. The communication structure is described by a directed graph, which only needs to be available at least once between two time bounds, solving the frequent problems of switching topologies and Zeno-like behaviors. The stability and regulation conditions of the multi-agent system are proven and guaranteed by the existence of a solution to a finite set of linear matrix inequalities. The effectiveness of the contribution is compared with previous results in numerical examples and demonstrated through simulation in a particular example of a multi-agent system.