Output regulation for heterogeneous second-order linear multi-agent systems

In this conference paper, we discuss a special kind of regulation problems for particular linear second-order control systems. At first, we propose a control protocol utilizing the information of agents themselves and their neighbours. Then we present a sufficient and necessary criterion for judging the stability of decentralized systems. Besides, we analyze the conditions that need to be satisfied for agents to track the output of the exosystem. In the end, examples and simulations are given to justify the control theory proposed by us.