Cooperative Output Regulation of Discrete-Time Linear Time-Delay Multi-agent Systems

摘要

In this paper, we study the cooperative output regulation problem for thediscrete linear time-delay multi-agent systems by distributed observerapproach. In contrast with the same problem for continuous-time lineartime-delay multi-agent systems, the problem has two new features. First, in thepresence of time-delay, the regulator equations for discrete-time linearsystems are different from those for continuous-time linear systems. Second,under the standard assumption on the connectivity of the communication graph, adistributed observer for any continuous-time linear leader system alwaysexists. However, this is not the case for discrete-time systems, and thebehavior of a distributed observer is much more complicated. Thus, we willfirst study the existence of the discrete distributed observer, and thenpresent the solvability of the problem by distributed dynamic output feedbackcontrol law.