  In this paper, we consider the cooperative output regulation problem for
heterogeneous linear multi-agent systems in the presence of communication
constraints. Under standard assumptions on the agents dynamics, we propose a
distributed control algorithm relying on intermittent and asynchronous
discrete-time information exchange that can be subject to unknown time-varying
delays and information losses. We show that cooperative output regulation can
be reached for arbitrary characteristics of the discrete-time communication
process and under mild assumptions on the interconnection topology between
agents. A numerical example is given to illustrate the effectiveness of our
theoretical results.
