Cooperative Output Regulation of Linear Multiagent Systems With Parameter Convergence

In this article, a new cooperative control protocol with parameter convergence is developed to address the problem of cooperative output regulation (COR) of linear multiagent systems (MASs). First, the utilization of the regulator equation overcomes the difficulty of related filtering signal design owing to the absence of matching conditions between the leader system matrix and that of the followers, which is essential for concurrent learning. Then, with the light of the proposed observer, a specific relationship between two sets of constructed filtered signals is satisfied after a finite time, which lays the foundation for a concurrent learning strategy. Furthermore, a cooperative controller with the cooperative adaptive law is successfully constructed, which overcomes the difficulty of controller design caused by estimations of the leader system matrix not satisfying regulator equation. Compared with the existing studies, the cooperative finite-time excitation (cFTE) condition is successfully applied to the COR of MASs for the first time. The developed controller can ensure accurate identification of adaptive parameters and output regulation control simultaneously. As a result, better system performance can be achieved. Finally, the effectiveness of our method is verified by a simulation example.