We study a multi-agent output regulation problem, where only a few agents have access to the exosystem’s dynamics. We propose a fully distributed controller that solves the problem for linear, heterogeneous, non-minimum-phase, and uncertain agent dynamics as well as time-varying directed networks. The distributed controller consists of two parts: (1) an exosystem generator that locally estimates the exosystem dynamics, and (2) a dynamic compensator that, by locally approaching the internal model of the exosystem, achieves perfect output regulation. Compared to the existing results in the literature, our solution is the first to solve the distributed output regulation problem where not all agents have access to information of the exosystem and the agent dynamics are uncertain and non-minimum-phase.

我们研究了多主体输出调节问题，其中只有少数主体可以访问外部系统的动力学。我们提出了一种完全分布式的控制器，该控制器解决了线性，异构，非最小相位和不确定的智能体动力学以及时变有向网络的问题。分布式控制器由两部分组成：（1）在外部估计系统动态的本地系统生成器，以及（2）动态补偿器通过局部接近外部系统的内部模型，可以实现完美的输出调节。与文献中的现有结果相比，我们的解决方案是第一个解决分布式输出调节问题的解决方案，在该问题中，并非所有代理都可以访问外部系统的信息，并且代理动态是不确定的且处于非最小阶段。