An Improved Distributed Control on Output Regulation for Heterogeneous Multi-Agent Systems

This paper presents an improved distributed control with state feedback for cooperative output regulation (COR) problem on heterogeneous multi-agent systems (MASs). The objective is to track the desired reference trajectory generated by a common exosystem. The improved distributed control involves a mapping Ld of Laplacian matrix by modifying the parameters structure of the existing protocol. The mapping moves Geršgorin circles of the Laplacian matrix to right. In light of the merit of Ld, the equivalent stabilization problem is solved via positive realness. Importantly the designed parameters are less and easier to be designed than the existing results.