Self-Organization Cooperative Output Regulation

Cooperative behavior design of networked systems is an important research issue to promote swarm intelligence. This paper investigates cooperative output regulation for a multi-channel system with multiple agents communicating in a network, where each channel is managed by an agent. It is expected that each agent can self-design and self-exert its input on the multi-channel system based only on local system information and local interaction with neighbors. To address this problem, a novel cooperative output regulation framework is first proposed. Then, all regulator gains for each agent are designed in a fully distributed way. In this sense, each agent can self-determine its behavior to fulfill the collective task. Finally, the effectiveness of the theoretical results is elucidated by some numerical simulation examples.