Distributed Control of Multiagent Systems with Heterogeneity in Synchronization Roles

This paper introduces a new definition of the linear cooperative output regulation problem in order to allow the common output synchronization (regulation) together with an additional output synchronization for a proper subset of all agents. The solvability of this problem with an internal model based distributed dynamic state feedback control law is first investigated based on a global condition. An agent-wise local sufficient condition is then presented under standard assumptions. A numerical example is finally provided to illustrate the considered problem and the proposed approach in this paper.