Cooperative output regulation for a class of linear multi-agent systems with unknown exosystem

In this paper, we study the cooperative output regulation problem for a class of second-order linear uncertain multi-agent systems with unknown exosystem. We first present a distributed canonical internal model to convert the cooperative output regulation problem for the original plant into a stabilization problem for its augmented system. Then we solve the problem via a distributed state feedback controller by combining the distributed internal model approach and the adaptive control technique. Our design is illustrated by an example.