This paper studies the resilient cooperative output regulation problem of uncertain linear multi-agent systems under denial-of-service (DoS) attacks. An integrated resilient distributed observer and a resilient distributed canonical internal model approach have been proposed. First, a hybrid sampling mechanism that mixes event-triggered and time-triggered scenarios has been adopted, with which a sampled output based resilient distributed observer is designed against DoS attacks. Second, the resilient cooperative output regulation problem is converted into an input-output stabilization problem of an augmented system composed of the plant, the reduced-order observer, and the resilient distributed canonical internal model. Then, an adaptive stabilizer is synthesized to stabilize the augmented system using a recursive iteration approach. Finally, the effectiveness of the proposed control design is verified by an example of the quarter-car active automotive suspension system.

The cooperative robust resilient output regulation problem is investigated in this article for linear uncertain multiagent systems under denial-of-service (DoS) attacks. To tackle arbitrarily large parametric uncertainties, the canonical internal model is attached to the multiagent system, converting the cooperative robust resilient output regulation problem into the auxiliary event-triggered stabilization problem of the augmented error system. Then, employing a hybrid sampling mechanism mixing event-triggered and time-triggered scenarios, the augmented error system is stabilized by a novel sampled distributed output feedback control law. Moreover, rigorous proof shows that the Zeno behavior shall not happen. Finally, the proposed control scheme is applied to solve the geometric formation problem for a platoon of vehicles under DoS attacks.

This paper explores a cooperative practical output regulation problem for a class of heterogeneous multiagent nonlinear systems by event-based output feedback. Specifically, we shall restrict our attention to the situation of sampled-data-based local measurements. As usual, due to agents heterogeneity, we first convert the problem into a stabilization one for the so-called augmented system, composed of the agent systems and suitably designed continuous-time internal models. Then, we show that this stabilization can be solved by measurement feedback. It finally allows us to establish a valid event-based protocol, leading to a global practical stability property and meanwhile guaranteeing Zeno-free condition.

In this paper, we present a novel universal adaptive output feedback control for the cooperative output regulation problem of linear multi-agent systems. The agent plant is general in the sense that those interesting practical issues such as unknown dynamics, direct network graph, and nonidentical relative degree agents are taken into account simultaneously. The obtained controller consists of the reduced-order observer, the internal model, as well as the adaptive control law, all of which are shown to be fully distributed. It is of interest to see that, in our recursive design, each agent does not need to estimate the unknown parameters caused by the neighbors, giving rise to a merely two-dimensional adaptive law with quite a simple structure. It is also this feature that our design has the capability of handling the agents with arbitrary nonidentical high relative degrees.

In this paper, we study the cooperative semi-global output regulation problem for a class of nonlinear strict-feedback multi-agent systems, where the subsystems are assumed to have nonidentical relative degrees. We first introduce the so-called distributed internal model that converts our problem into the cooperative semi-global stabilization problem of the corresponding augmented system composed of the original multi-agent system and the internal model. We then put this augmented system into the general block lower triangular form, and develop the block semi-global backstepping technique to stabilize it. Comparing with some existing literatures, our design has removed the identical relative degree assumption, and hence applies to a much larger group of nonlinear multi-agent systems.

In this paper, the cooperative global robust output regulation problem for a class of strict feedback nonlinear uncertain multi-agent systems is studied. We first introduce a type of distributed internal model that converts the cooperative global robust output regulation problem into a global robust stabilization problem of a so-called augmented multi-agent system which is in block lower triangular form. We then further present a set of sufficient conditions under which the augmented multi-agent system is globally stabilizable by a distributed state feedback control law.

In this paper, we consider the cooperative output regulation of linear multi-agent systems under switching network. The problem can be viewed as a generalization of the leader-following consensus problem of multi-agent systems. Due to the limited information exchanges of different subsystems, the problem cannot be solved by the decentralized approach and is not allowed to be solved by the centralized control. By devising a distributed observer network, we can solve the problem by both dynamic state feedback control and dynamic measurement output feedback control. As an application of our main result, we show that a special case of our results leads to the solution of the leader-following consensus problem of linear multi-agent systems.