Adaptive cooperative output regulation of general directed knowledge-based leader-following networks

In this study, an adaptive cooperative output regulation problem is solved for a knowledge-based leader-follower heterogeneous multi-agent system over a directed communication network. Only partial information on the leader's dynamics and output parameters is available. We use a distributed observer with an exponential convergence rate to estimate the leader's unknown system matrix and output parameter and we design an adaptive algorithm to compute iteratively the linear matrix regulator equation online. We synthesize a state feedback controller composed of the distributed algorithm and the adaptive algorithm. Finally, through theoretical analysis and numerical example, we show that our design solves the cooperative output regulation problem with the leader's output parameter, system matrix, and output tracking error converging to the origin exponentially.