Cooperative Output Regulation Subject to Uncertain Exosystems and Its Application: A Fully Distributed Adaptive Observer Approach

— In this paper, we investigate cooperative output regulation of heterogeneous linear multi-agent systems subject to an uncertain exosystem over directed communication networks. Compared with existing results, a fully distributed output-based adaptive observer is developed that eliminates the requirement for global information of communication networks and improves practical feasibility. By establishing a sequence of technical lemmas, it is demonstrated that the proposed distributed adaptive observer attains distributed exponential estimation of the unknown parameter and the state of the uncertain exosystem under directed communication networks. Leveraging the certainty equivalence principle, both the distributed state feedback control law and the distributed measurement output feedback control law are proposed to solve the problem. Moreover, two applications, active automotive suspension control under unknown road profiles and cooperative output regulation of multiple LCL coupled inverter-based distributed generation systems, are provided to verify the proposed approach.