Cooperative Output Regulation of Heterogeneous Fractional-order Multi-Agent Systems

In this paper, the cooperative output regulation is addressed for a sort of heterogeneous fractional-order multi-agent systems. Firstly, to identify the state of the exosystem, a distributed dynamic observer is designed. Secondly, two types of distributed fractional control schemes are developed separately based on the states and outputs of agents to solve cooperative output regulation. Some concise criteria are further derived by virtue of the stability result of fractional linear models. To demonstrate the validity of the derivation of the results, a specific numerical example is also given.