Distributed output regulation of leader-follower multi-agent systems

Yiguang Hong, Xiaoli Wang, Zhong Ping Jiang

Research output: Contribution to journalArticlepeer-review


In this paper, distributed leader-follower control algorithms are presented for linear multi-agent systems based on output regulation theory and internal model principle. By treating a leader to be followed as an exosystem, the proposed framework can be used to generalize existing multi-agent coordination solutions to allow the identical agents to track an active leader with different dynamics and unmeasurable variables. Moreover, the obtained results for multi-agent coordination control are an extension of previous work on centralized and decentralized output regulation to a distributed control context. Necessary and sufficient conditions for the distributed output regulation problem are given. Finally, distributed output regulation of some classes of multi-agent systems with switching interconnection topologies are discussed via both static and dynamic feedback.

Original languageEnglish (US)
Pages (from-to)48-66
Number of pages19
JournalInternational Journal of Robust and Nonlinear Control
Issue number1
StatePublished - Jan 10 2013


  • distributed control
  • internal model
  • multi-agent systems
  • output regulation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Chemical Engineering
  • Biomedical Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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