  This paper investigates a new class of linear multi-agent network systems, in
which nodes are coupled by dynamic edges in the sense that each edge has a
dynamic system attached as well. The outputs of the edge dynamic systems form
the external inputs of the node dynamic systems, which are termed "neighboring
inputs" representing the coupling actions between nodes. The outputs of the
node dynamic systems are the inputs of the edge dynamic systems. Several
cooperative output regulation problems are posed, including output
synchronization, output cooperation and master-slave output cooperation. Output
cooperation is specified as making the neighboring input, a weighted sum of
edge outputs, track a predefined trajectory by cooperation of node outputs.
Distributed cooperative output regulation controllers depending on local state
and neighboring inputs are presented, which are designed by combining feedback
passivity theories and the internal model principle. A simulation example on
the cooperative current control of an electrical network illustrates the
potential applications of the analytical results.
