Cooperative output regulation of linear discrete-time time-delay multi-agent systems by adaptive distributed observers

In this paper, we study the cooperative output regulation problem for heterogeneous linear discrete-time time-delay multi-agent systems by adaptive distributed observers. An adaptive distributed observer-based approach was recently proposed for estimating both a leader’s state and its system dynamics, to each follower. This approach is applied to discrete-time multi-agent systems with input-delays to relax the assumption that all the followers know the leader’s system dynamics. Based on the adaptive distributed observer, we further generalize the adaptive dynamic solver for solving the regulator equations associated with each follower from delay-free case to time-delay case. Finally, the problem is solved by a distributed dynamic output feedback controller.