Robust Cooperative Output Regulation of Discrete-Time Heterogeneous Multi-Agent Systems
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arXiv
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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2026
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| _version_ | 1866908873002057728 |
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| author | Gul, Kursad Metehan Sarsilmaz, Selahattin Burak |
| author_facet | Gul, Kursad Metehan Sarsilmaz, Selahattin Burak |
| contents | This article considers robust cooperative output regulation of discrete-time uncertain heterogeneous (in dimension) multi-agent systems (MASs). We show that the solvability of this problem with an internal model-based distributed control law reduces to the existence of a structured control gain that makes the nominal closed-loop system matrix of the MAS Schur. Accordingly, this article focuses on global and agent-wise local sufficient conditions for the existence and design of such a structured control gain. Based on a structured Lyapunov inequality, we present a convexification that yields a linear matrix inequality (LMI), whose feasibility is a global sufficient condition for the existence and design. Considering the individual nominal dynamics of each agent, the existence is also ensured if each agent solves a structure-free control problem. Its convexification yields LMIs that allow each agent to separately design its structure-free control gain. Lastly, we study the relationships between the sets of control gains emerging from both global and local perspectives. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_07783 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Robust Cooperative Output Regulation of Discrete-Time Heterogeneous Multi-Agent Systems Gul, Kursad Metehan Sarsilmaz, Selahattin Burak Systems and Control Optimization and Control This article considers robust cooperative output regulation of discrete-time uncertain heterogeneous (in dimension) multi-agent systems (MASs). We show that the solvability of this problem with an internal model-based distributed control law reduces to the existence of a structured control gain that makes the nominal closed-loop system matrix of the MAS Schur. Accordingly, this article focuses on global and agent-wise local sufficient conditions for the existence and design of such a structured control gain. Based on a structured Lyapunov inequality, we present a convexification that yields a linear matrix inequality (LMI), whose feasibility is a global sufficient condition for the existence and design. Considering the individual nominal dynamics of each agent, the existence is also ensured if each agent solves a structure-free control problem. Its convexification yields LMIs that allow each agent to separately design its structure-free control gain. Lastly, we study the relationships between the sets of control gains emerging from both global and local perspectives. |
| title | Robust Cooperative Output Regulation of Discrete-Time Heterogeneous Multi-Agent Systems |
| topic | Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2603.07783 |