Cooperative Robust Output Regulation Problem for Discrete-Time Linear Time-Delay Multi-Agent Systems

摘要

In this paper, we study the cooperative robust output regulation problem fordiscrete-time linear multi-agent systems with both communication and inputdelays by distributed internal model approach. We first introduce thedistributed internal model for discrete-time multi-agent systems with bothcommunication and input delays. Then, we define so-called auxiliary system andauxiliary augmented system. Finally, we solve our problem by showing, undersome standard assumptions, that if a distributed state feedback control or adistributed output feedback control solves the robust output regulation problemof the auxiliary system, then the same control law solves the cooperativerobust output regulation problem of the original multi-agent systems.