Output regulation of multi-input systems under packet dropout with application to trajectory tracking of cooperative robots

This paper addresses the output regulation problem for discrete-time linear systems over lossy actuating channels. In order to solve this problem, a co-design approach of controller, encoder and decoder is adopted, i.e., an encoder matrix and a decoder matrix are introduced at each end of the controller-actuator channels for taking full advantage of the communication resource. The solvability conditions are firstly derived to design the feedback gain such that the closedloop system is mean-square (MS) stable. Then the regulation equations are deduced for designing the feedforward gain to drive the controlled output following the desired trajectory. Finally, a simulation is performed to implement the design method on cooperative robots, thereby showing the effectiveness of the proposed results.