Output consensus control for discrete-time heterogeneous multi-agent systems (MAS) with disturbances is studied, i.e., all agents track a common trajectory in the presence of disturbances by output regulation. There exists a significant challenge in the discrete-time setting for output consensus. Here a multirate approach is proposed to design the feedback controllers for heterogeneous MAS. Then the internal model principle is employed to convert the consensus problem into output stabilization. Finally the effectiveness of the method is shown by a numerical example.

中文翻译：

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具有干扰的异构多主体系统的输出共识

研究了具有干扰的离散时间异构多主体系统（MAS）的输出共识控制，即，在存在干扰的情况下，所有主体都通过输出调节来跟踪共同的轨迹。在输出共识的离散时间设置中存在重大挑战。在这里，提出了一种多速率方法来设计异构MAS的反馈控制器。然后采用内部模型原理将共识问题转化为产出稳定。最后通过数值例子说明了该方法的有效性。