Distributed Adaptive Bipartite Output Regulation of Heterogenous Linear Multi-Agent Systems

The adaptive bipartite output consensus issue for heterogenous linear multi-agent systems is investigated in this paper under cooperation-competition network. Different from classical observer design method, which usually enables the estimation of both the state of leader (also called as exosystem), a new adaptive parameter during state estimation is introduced with the fully distributed form to address the limitation of constructing the distributed observer. Specially, the proposed methodology is structured into three key steps. Firstly, a way of estimating the state-space matrix of the leader and the state of an automatous leader is considered in a fully adaptive distributed observer. Subsequently, an adaptive algorithm is implemented to compute the solutions of the regulator equations. Finally, state feedback and measurement output feedback controllers are employed to achieve the distributed bipartite output consensus.