Robust Cooperative Output Regulation for Heterogeneous Linear Multiagent Systems

Robust Cooperative Output Regulation for Heterogeneous Linear Multiagent Systems | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Robust Cooperative Output Regulation for Heterogeneous Linear Multiagent Systems Zilong Liu This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7621068/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract In this study, robust cooperative output regulation of heterogeneous linear multiagent systems is investigated. The leader’s dynamics are accessible exclusively to neighboring followers, and communication among followers is bidirectional due to imposed constraints. To manage th e heterogeneity among followers, internal models incorporating dynamic state and output feedback are utilized to accomplish robust output regulation. The output regulation objectives are achieved through the application of distinct control laws tailored for heterogeneous linear followers. The effectiveness of the proposed methods is demonstrated through numerical examples. Physical sciences/Engineering Physical sciences/Mathematics and computing cooperative output regulation internal model distributed observer heterogeneous linear multiagent systems Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-7621068","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":524812320,"identity":"0383865b-f243-48fa-a96d-8b3d09e132df","order_by":0,"name":"Zilong Liu","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAuElEQVRIiWNgGAWjYBACPmYg8aACyuMhRgsbSEvCGRCLaC0gIrGNJC3sPMYfEucdtpef38D44G0bg7w5YYfxGBgkbjucuOEYA7Ph3DYGw50NRGhJAGpJMGBjYJPmbWNIMDhAhJYDiXOADmtjYP9NrBbDhsSGw4wNx4BsIrWwFTMkHEsH+iWxWXLOOQnDDYS08PMf3vzhQ421vXzz4YMf3pTZyBO0BQkwNgAJCeLVj4JRMApGwSjADQAOnjXY56q6jAAAAABJRU5ErkJggg==","orcid":"","institution":"University of Shanghai for Science and Technology","correspondingAuthor":true,"prefix":"","firstName":"Zilong","middleName":"","lastName":"Liu","suffix":""}],"badges":[],"createdAt":"2025-09-15 13:23:36","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-7621068/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-7621068/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":92976961,"identity":"1997f3ac-0fef-45ee-8f9e-7c69778c250e","added_by":"auto","created_at":"2025-10-07 18:28:02","extension":"pdf","order_by":0,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":561049,"visible":true,"origin":"","legend":"","description":"","filename":"RobustCooperativeOutputRegulation.pdf","url":"https://assets-eu.researchsquare.com/files/rs-7621068/v1/5da91d3daec1d579e0e2953f.pdf"},{"id":92976960,"identity":"15fc3358-35b4-4fa4-a3f0-0829294e42fe","added_by":"auto","created_at":"2025-10-07 18:28:02","extension":"json","order_by":1,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":2586,"visible":true,"origin":"","legend":"","description":"","filename":"11d91eca043a4a80853d36091fddafa1.json","url":"https://assets-eu.researchsquare.com/files/rs-7621068/v1/1d54864a42d309e5fb23ab28.json"},{"id":99703605,"identity":"20cdd8c8-6990-49b8-baaa-7be7da48859d","added_by":"auto","created_at":"2026-01-07 12:09:56","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1403162,"visible":true,"origin":"","legend":"","description":"","filename":"RobustCooperativeOutputRegulation.pdf","url":"https://assets-eu.researchsquare.com/files/rs-7621068/v1_covered_df50ea43-ff93-4f41-a283-d1a0fd6916b1.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Robust Cooperative Output Regulation for Heterogeneous Linear Multiagent Systems","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"cooperative output regulation, internal model, distributed observer, heterogeneous linear multiagent systems","lastPublishedDoi":"10.21203/rs.3.rs-7621068/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-7621068/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eIn this study, robust cooperative output regulation of heterogeneous linear multiagent systems is investigated. 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