Consensus robust output regulation of discrete-time linear multi-agent systems
Hongjing Liang, Huaguang Zhang, Zhanshan Wang, Junyi Wang · IEEE/CAA Journal of Automatica Sinica · 2014
This paper deals with consensus robust output regulation of discrete-time linear multi-agent systems under a directed interaction topology. The digraph is assumed to contain a spanning tree. Every agent or subsystem is identical and uncertain, but subsystems have different external disturbances. Based on the internal model and general discrete-time algebraic Riccati equation, a distributed consensus protocol is proposed to solve the regulator problem. A numerical simulation demonstrates the effectiveness of the proposed theoretical results.