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In this paper, we study the cooperative robust output regulation problem forlinear uncertain multi-agent systems with both communication delay and inputdelay by the distributed internal model approach. The problem includes theleader-following consensus problem of linear multi-agent systems withtime-delay as a special case. We first generalize the internal model designmethod to systems with both communication delay and input delay. Then, under aset of standard assumptions, we have obtained the solution of the problem viaboth the state feedback control and the output feedback control. In contrastwith the existing results, our results apply to general uncertain linearmulti-agent systems, accommodate a large class of leader signals, and achievethe asymptotic tracking and disturbance rejection at the same time.

Internal Model Approach to Cooperative Robust Output Regulation for Linear Uncertain Time-Delay Multi-Agent Systems