Cooperative Output Regulation of Linear Multi-Agent Systems Under Communication Delays

In this paper, we study the cooperative output regulation problem of linear multi-agent systems under communication delays. We propose a class of adaptive distributed feedforward control laws which can estimate the system matrix of the leader system through the network topology. Compared with existing results, the communication delay is considered, which causes great challenges to the solvability of the problem. To overcome these challenges, we establish some technical lemmas to obtain the separation principle for a class of timedelay systems. It is demonstrated that the cooperative output regulation problem under communication delays can be solved by the proposed adaptive distributed control laws.