The Binary Distributed Observer Approach to the Cooperative Output Regulation of Linear Multiagent Systems

In this note, the cooperative output regulation problem of general heterogeneous linear multiagent systems with binary constraints is studied. To speed up the convergence rate, the binary distributed observer is proposed only utilizing sign of the relative state instead of using full relative information. Under some mild conditions, the binary distributed observer can estimate the state of the leader system exponentially in finite time sense. The leader system can generate various reference signals, such as step functions, sinusoidal functions or their combinations. Furthermore, both state and output feedback control protocols are synthesized to solve the problem. An illustrative example is presented to support the feasibility of the proposed framework.