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Cooperative robust and perfect tracking of heterogeneous linear multi-agent systems

This paper deals with the cooperative robust and perfect tracking problem of heterogeneous uncertain linear multi-agent systems. Since only part of agents can access the reference signal, a distributed observer is designed first. To ensure that each agent's controlled output almost perfectly tracks a given reference signal with an arbitrarily fast setting time under external disturbance, the distributed observer is designed to be parameterized. Then, both full state protocol and dynamic output protocol are constructed in a distributed sense. On the condition that the undirected communication graph is connected and at least one follower agent connects to the leader agent, our protocols solve the cooperative robust and perfect tracking problem.