Cooperative output regulation for linear uncertain MIMO multi-agent systems by output feedback

In this paper, we study the cooperative output regulation problem for a class of general linear uncertain multi-input multi-output (MIMO) multi-agent systems subject to a well-defined vector relative degree. By proposing some suitable internal model, the problem is first converted into the auxiliary cooperative stabilization problem of the augmented system in the so-called strict feedback normal form. This auxiliary problem is then solved by some developed robust control techniques, such as multiple high-gain feedback and mixed distributed observer, leading to an effective distributed output feedback regulator synthesis for the original cooperative output regulation problem.