Internal model approach to cooperative robust output regulation for linear uncertain time-delay multiagent systems

In this paper, we study the cooperative robust output regulation problem for linear uncertain multiagent systems with both communication delay and input delay by the distributed internal model approach. The problem includes the leader-following consensus problem of linear multiagent systems with time delay as a special case. We first generalize the internal model design method to systems with both communication delay and input delay. Then, under a set of standard assumptions, we have obtained the solution to the problem via both the state feedback control law and the output feedback control law. In contrast to the existing results, our results apply to general linear uncertain multiagent systems, accommodate a large class of leader signals, and achieve asymptotic tracking and disturbance rejection at the same time.