Distributed Gain-scheduling Output Regulation of Discrete-Time Multi-Agent Systems

The objective of this note is to explore the robust cooperative output regulation (COR) challenge faced by discrete-time linear multi-agent systems with parameter-dependent uncertainties that are represented by linear fractional transformation (LFT) models. To achieve cooperative tracking with disturbance rejection, an innovative scheme is devised, which is based on distributed observers and gain-scheduling output regulation. By employing appropriate coordinate transformations, the existence conditions of distributed controllers are formulated as solvability of output regulator equations plus stability of an equivalent parameter-dependent LFT system. Under some standard assumptions, independent sets of linear matrix inequalities (LMIs) and regulator equations are then given to formulate the controller synthesis. By resorting polynomial and LMI techniques, solvability of the proposed method is guaranteed. Finally, a numerical example is simulated to evaluate the efficacy of the proposed methodology.