Distributed Robust Output Regulation for Multi-agent Systems with Polytopic Uncertainty

In this article, the distributed robust output regulation problem for multi-agent systems (MAS) is considered. It aims at controlling a group of heterogeneous linear systems influenced by disturbances to track an active leader, by the help of local interaction. With distributed dynamic state feedback controller and output feedback controller respectively, the solvability of the problem and the algorithm of controller design are both investigated. The solvability conditions are given in terms of linear matrix inequalities (LMIs). It is shown that, for polytopic uncertainties, with given controllers, the closed-loop system can satisfy the requirements of output regulation property.