This article investigates the robust cooperative output regulation problem of heterogeneous uncertain linear multiagent systems with switching topologies and infinite distributed communication delays. A novel distributed observer is proposed for each agent to estimate the state of the so-called exosystem by taking consideration of both switching topologies and infinite distributed communication delays. A distributed output feedback controller is then developed based on the internal model principle and the estimated state without using the prior knowledge of communication delays. It is shown via the newly developed Lyapunov-like method that the robust cooperative output regulation problem can be solved under some mild assumptions. Finally, a numerical example is given to demonstrate the effectiveness of the proposed controller.

中文翻译：

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无限通信时延下多智能体系统鲁棒协同输出调节的Lyapunov方法


本文研究了具有切换拓扑和无限分布式通信延迟的异构不确定线性多智能体系统的鲁棒协作输出调节问题。为每个代理提出了一种新颖的分布式观察器，通过考虑切换拓扑和无限分布式通信延迟来估计所谓的外系统的状态。然后基于内部模型原理和估计状态开发分布式输出反馈控制器，而不使用通信延迟的先验知识。通过新开发的类李亚普诺夫方法表明，鲁棒的协作输出调节问题可以在一些温和的假设下得到解决。最后，给出了一个数值例子来证明所提出的控制器的有效性。