Cooperative Output Regulation of Linear Multi-Agent Systems with a Switched Exosystem
He Gao Cai · 2018
This paper studies the cooperative output regulation problem of linear multi-agent systems. In contrast to the existing results where the exogenous signals are generated by a static exosystem, we consider a class of non-smooth exogenous signals generated by a switched exosystem, which are more practical in some real applications. In contrast to the traditional asymptotic tracking, in this paper, the regulated outputs are required to be bounded and decay to zero in a piecewise way. The major technical difficulty in solving this cooperative output regulation problem lies in that the switched exosystem leads to a switched nonlinear closed-loop system. In order to ensure the system stability, a lower bound on the dwell time of the switching signal is found based on the establishment of several important lemmas. Moreover, the upper bounds for the regulated outputs are also explicitly given.