In this article, we present a novel distributed adaptive output feedback control for the cooperative output regulation problem of linear multiagent systems. The agent plant is general in the sense that those interesting practical issues such as unknown dynamics, directed network graph, and agents with nonidentical relative degrees are taken into account simultaneously. The obtained controller consists of the reduced-order observer, the internal model, as well as the adaptive control law, all of which are shown to be fully distributed without using the knowledge of Laplacian matrix of the network graph. It is of interest to see that, in our recursive design, each agent does not need to estimate the unknown parameters from the neighbors, giving rise to a merely two-dimensional adaptive law with quite a simple structure. It is also this feature that our design has the capability of handling the agents with arbitrary nonidentical high relative degrees.

中文翻译：

---

动力学未知的多主体系统的分布式自适应输出反馈控制

在本文中，我们针对线性多主体系统的协作输出调节问题提出了一种新颖的分布式自适应输出反馈控制。从某种意义上说，代理工厂是一般性的，因为同时考虑了那些有趣的实际问题，例如未知的动力学，有向网络图和具有不相同的相对程度的代理。所获得的控制器由降阶观测器，内部模型以及自适应控制律组成，所有这些控制器都显示为完全分布的，而无需使用网络图的拉普拉斯矩阵的知识。有趣的是，在我们的递归设计中，每个代理不需要估计来自邻居的未知参数，从而产生了一个具有非常简单结构的仅二维自适应定律。