近年来，协作式输出调节问题受到广泛关注。该问题的研究对象具有一般性，同时兼顾考虑外界干扰和不确定性参数，因此具有深刻的研究意义。现有研究中，此问题的可解性依赖于诸多条件，比如外部系统矩阵信息全局可得且网络通讯可靠。这些条件限制了协作式输出调节理论在实际工程中的应用。基于此现状，本项目拟研究以下几方面内容。第一，针对确定型和不确定型线性多自主体系统，分别提出分布式前馈控制方法和分布式内模控制方法，解决在外部系统矩阵分布式获取、考虑通讯时延及网络拓扑时变时的鲁棒协作式输出调节问题。第二，针对非线性多自主体系统，发展非线性分布式内模原理，解决在外部系统矩阵分布式获取、考虑通讯时延及网络拓扑时变时的全局鲁棒协作式输出调节问题。第三，将提出的理论算法应用于多无人机编队飞行控制。本项目的研究一方面可以突破协作式输出调节理论的一些关键技术难点，另一方面可以扩大协作式输出调节理论的工程应用范围。

In recent years, the cooperative output regulation problem of multi-agent systems has emerged as an interesting research topic in control community. The problem is challenging in that it not only deals with heterogeneous dynamics and disturbances but also tackles the robustness of the system with respect to uncertainties. The general problem formulation of cooperative output regulation includes many cooperative control problems, such as consensus, formation and containment control as its special cases. In most of existing literature, the solvability of the cooperative output regulation problem suffers from some limitations, such as the system matrix of the exosystem is available to all subsystems and the network communication is reliable. It narrows the application range of cooperative output regulation theory in practical engineering problems. Therefore, this project aims to develop some novel control techniques and methods to remove these limitations. First, for linear multi-agent systems with and without uncertainties, a distributed feedforward control approach and a distributed internal model control approach will be proposed, respectively, to solve the robust cooperative output regulation problem under the conditions that the system matrix of the exosystem is accessible in a distributed fashion, the communication delay exists and the network topology is time-varying. Second, for nonlinear multi-agent systems, a distributed internal model principle will be developed to solve the global robust cooperative output regulation problem under the conditions that the system matrix of the exosystem is accessible in a distributed fashion, the communication delay exists, and the network topology is time-varying. Third, the developed distributed control schemes will be applied to formation control of multiple unmanned aerial vehicles. This project, on one hand, will break through some technical difficulties in the cooperative output regulation problem by developing some new control techniques and methods, and on the other hand, will enlarge the application of cooperative output regulation theory to practical engineering problems.