Cooperative Output Regulation of Singular Heterogeneous Multiagent Systems

This paper investigates the cooperative output regulation problem of singular heterogeneous multiagent systems. General distributed observers are proposed for every agent obtaining the estimated state of the exosystem. The feedforward control technique and reduced-order approach are used to design distributed singular output feedback controllers and distributed normal output feedback controllers. The proposed cooperative dynamic controller is dependent on the plant parameters and the interaction topologies. A simulation example is provided to demonstrate the effectiveness of the proposed design method.