Prescribed-Time Cooperative Output Regulation of Heterogeneous Multiagent Systems

Abstract

This article concentrates on the prescribed-time cooperative output regulation problem (CORP) of linear heterogeneous multiagent systems (HMASs) under directed topology. First, a novel distributed observer with prescribed-time convergence is designed to estimate the state of the exosystem. Then, two distributed prescribed-time control protocols, one based on the agent's state, the other based on the agent's output, are proposed using the observed exosystem's state. It is shown that the CORP of linear HMASs with any different orders is solved in a prescribed (any user-chosen as needed) time. Unlike the existing finite-time control strategies, the settling time is guaranteed by the designed first-order smooth control protocols, independent of the system's initial values and the control parameters. Lastly, a numerical simulation is presented to verify our theoretical results.