Cooperative output regulation for networks of hyperbolic systems using adaptive cooperative observers
Tarik Enderes, Jakob Gabriel, Joachim Deutscher · Automatica · 2024
This paper is concerned with the cooperative output regulation problem for heterogeneous networks of hyperbolic agents. Both the leaders’ output as well as the disturbances are generated by finite-dimensional signal models that are unknown to the followers. An adaptive cooperative reference observer is employed and an infinite-dimensional adaptive cooperative disturbance observer is designed using the backstepping approach to estimate both the states and the signal model parameters. By combining them with a local state feedback regulator, an adaptive cooperative output feedback regulator results. It is shown that the resulting network controlled multi-agent system achieves asymptotic leader–follower output synchronization. The results of the paper are illustrated for a heterogeneous network of three hyperbolic agents in simulations.