Output regulation of heterogeneous multi-agent systems: A graphical game approach

This paper addresses the output regulation of the heterogeneous multi agent system. First, it is shown that the output regulation can be achieved through the local controller design, then the output regulation is formulated in the graphical game framework. To solve the output regulation of a heterogeneous multi agent system in the graphical game framework, one needs to derive the solution to the coupled Hamilton-Jacobi equations. Both offline and online algorithms are suggested for the solution to the Hamilton-Jacobi equations. Using the online method, the profile policy converges to a Nash Equilibrium.