# Distributed Optimal Steady-State Regulation for High-Order Multi-Agent Systems with External Disturbances

arXiv: https://arxiv.org/abs/1902.00865 · HTML: https://mlsanity.com/paper/1902.00865/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 3 Feb 2019.

## Built on by (most cited first, 1 of 1)

- [MAS-H2: A Hierarchical Multi-Agent System for Holistic Cloud-Native Autoscaling](https://mlsanity.com/paper/2603.07607/) (2026)

## Abstract (arXiv)

In this paper, a distributed optimal steady-state regulation problem is formulated and investigated for heterogeneous linear multi-agent systems subject to external disturbances. We aim to steer this high-order multi-agent network to a prescribed steady-state determined as the optimal solution of a resource allocation problem in a distributed way. To solve this problem, we employ an embedded control design and convert the formulated problem to two simpler subproblems. Then, both state-feedback and output feedback controls are presented under mild assumptions to solve this problem with disturbance rejection. Moreover, we extend these results to the case with only real-time gradient information by high-gain control techniques. Finally, numerical simulations verify their effectiveness.