Cooperative Output Regulation of Heterogeneous Linear Multi-Agent Systems: A Distributed Output Feedback Control Approach

In this article, we investigate the cooperative output regulation problem of heterogeneous linear multi-agent systems. Recently, the same problem is solved by a state feedback control approach. We aim to design a control law to address this problem. In particular, first, we construct a novel control law which fully depends on the output information. Then, a rigorous proof is given to show that by a small-gain condition, the problem is addressed under the proposed control law. Finally, an example is given to demonstrate the method.