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In this paper, the cooperative output regulation (COR) of heterogeneous linear multi-agent systems is studied. We propose a novel distributed observer approach that ensures synchronization of agents&#x2019; outputs to a reference trajectory generated by a leader, while rejecting disturbance. A unified framework based on tools from  H  &#x221E;  theory is established which allows treatment of both networks of non-introspective and networks of introspective agents. The proposed protocols do not require exchange of the controller states, which reduces or completely eliminates communication costs. A sufficient local stability condition is derived and a novel controller gain design method is provided to satisfy that condition. It is proven that the solvability of the COR problem can be guaranteed in advance for: i) introspective agents with arbitrary dynamics, ii) non-introspective agents with stable dynamics, under the assumption that the poles of exosystems lie on the imaginary axis. The effectiveness of the proposed approach is verified through numerical simulations.

Distributed Observer Approach to Cooperative Output Regulation of Multi-Agent Systems Without Exchange of Controller States