Cooperative Output Regulation of Heterogeneous Multi-Agent Systems: An $H_{\infty }$ Criterion

In this note, the cooperative output regulation problem of heterogeneous linear multi-agent systems is investigated. Our approach is based on internal model and dynamic error feedback among the agents. Under some standard assumptions, the problem is solved by an internal model and a stabilizing H_∞ controller. We showed that the exo-signal-free system is stabilized if each controlled agent is robust (in the sense of H_∞ norm) to resist the disturbance measured by the second largest eigenvalue of the graph adjacency matrix. Then the synthesis problem is solved using algebraic Riccati equation. Furthermore, we showed that this condition is a generalization of existing results.