Cooperative Output Regulation with Disturbance Decoupling
Selahattin Burak Sarsılmaz, Kürşad Metehan Gül, Behcet A. Acikmese · 2024
This paper studies cooperative output regulation of linear multi-agent systems subject to external unmodeled disturbances. The objective is to solve the cooperative output regulation problem (CORP) while keeping tracking errors insensitive to all these disturbances. Given our objective and the related literature, we refer to this problem as the cooperative output regulation problem with disturbance decoupling (CORPDD). We present necessary and sufficient conditions for the solvability of the CORPDD by the distributed control law proposed in [1] to solve the CORP. The connections between the CORP and CORPDD, along with the spectral abscissa minimization of the closed-loop system matrix under the constraints of the CORPDD, are also provided.