Cooperative output regulation of LTI plant via distributed observers with local measurement

Over the last decades, distributed output regulation problems have received much consideration due to its extensively applications in real world practices. Traditionally, it is assumed that each node obtains the same signal. However, an important observation is that each agent possesses different measurement due to the observability or configuration of the systems. To solve the output regulation problem in this case, we proposed a cooperative output regulation network, where each agent obtains a part of system output measurement on states of plant and exosystem. Distributed state observers and disturbance observers are designed in order to fuse the observed data. Different from traditional literatures, our design shows that even none of the agents can locally reconstruct the state of exosystem, it is still possible to design a networked system to track the reference signal properly. Conditions that guarantee the existence of parameters are given in the cases, where the network topologies are fixed and time-varying, respectively. The simulation results verify our method very effectively.