Cooperative output regulation of heterogeneous multi‐agent systems with a leader of bounded inputs

In this study, the cooperative output regulation problem for heterogeneous multi‐agent systems is addressed by considering a leader dynamics subject to bounded (possibly non‐zero, persistent, and time varying) inputs. Compared to many existing works with a leader of zero input, using such a leader dynamics will facilitate realisation of more diverse and sophisticated tracking trajectories for cooperative output regulation control. However, it also poses a challenge to pursue exact output regulation performance. To this end, a new two‐layer hierarchical design framework is proposed. This framework consists of an upper‐layer cooperative estimator for estimating the leader's state information in finite time, and a lower‐layer distributed output regulator to achieve exact output regulation performance. Both finite‐time estimation and asymptotic output regulation performance are analysed using the Lyapunov function method, and the associated solvability conditions are established as a set of linear matrix inequalities plus linear matrix equations. Simulation studies are also included to demonstrate the effectiveness of the proposed approach.