Output regulation of linear multi-agent systems based on state observer

A novel protocol for linear Multi-agent systems in undirected virtual communication network topology is proposed and has a faster convergence speed. Under the novel output regulation protocol, each agent not only gets its own state through the full-dimensional observer, but also obtains the states of its neighbors and its instantaneous neighbors to follow the leader. Necessary and sufficient conditions of output regulation for the MASs are given. Finally, the convergent speeds of different protocols are presented by a numerical simulation.