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We study a multi-agent output regulation problem, where not all agents haveaccess to the exosystem's dynamics. We propose a fully distributed controllerthat solves the problem for linear, heterogeneous, and uncertain agent dynamicsas well as time-varying directed networks. The distributed controller consistsof two parts: (1) an exosystem generator that locally estimates the exosystemdynamics, and (2) a dynamic compensator that, by locally approaching theinternal model of the exosystem, achieves perfect output regulation. Moreover,we extend this distributed controller to solve an output synchronizationproblem where not all agents initially have the same internal model dynamics.Our approach leverages methods from internal model based controller synthesisand multi-agent consensus over time-varying directed networks; the derivedresult is a generalization of the (centralized) internal model principle to thedistributed, networked setting.

Distributed Robust Output Regulation of Heterogeneous Uncertain Linear Agents by Adaptive Internal Model Principle