Cooperative Output Regulation of Multi-Agent Systems in a Switching Network with Incomplete Exosystem Measurement
Himadri Basu, Se Young Yoon · 2018
In this paper we study the cooperative output regulation of linear multi-agent systems under switching communication topology and exosystem detectability constraints. As compared to similar works in the literature, in this paper we consider the problem scenario in which none of the agents can estimate the exosystem states from their individual measurements on any of the switching configurations of the system. In other words, no agent in the system can solve the output regulation problem independently. By devising a distributed observer on the exosystem states, and under certain intuitive assumption on the combined detectability of the multi-agent system and joined connectivity of the information graphs, we are able to solve the regulation problem by a distributed state feedback protocol. An illustrative example is offered to verify the theoretical results developed in this paper.