Distributed adaptive output regulation controllers of heterogeneous linear multi-agent systems with directed graphs

This paper considers the cooperative output regulation problem for linear multi-agent systems with a directed communication graph, heterogeneous linear agent dynamics, and an exosystem whose output is available to only a subset of agents. By using a distributed adaptive observer for the agents to estimate the exogenous signal, a distributed adaptive controller is designed. Compared with the existing works, one main contribution of this paper is that the proposed control schemes can be designed and implemented by each agent in a fully distributed fashion for general directed graphs.