Cooperative Output Regulation of Linear Multi-agent Systems with   Communication Constraints
  In this paper, we consider the cooperative output regulation problem for heterogeneous linear multi-agent systems in the presence of communication constraints. Under standard assumptions on the agents dynamics, we propose a distributed control algorithm relying on intermittent and asynchronous discrete-time information exchange that can be subject to unknown time-varying delays and information losses. We show that cooperative output regulation can be reached for arbitrary characteristics of the discrete-time communication process and under mild assumptions on the interconnection topology between agents. A numerical example is given to illustrate the effectiveness of our theoretical results. 
Abdelkader Abdessameud and Abdelhamid Tayebi
cs.SY math.OC