Finite-time output regulation of singular heterogeneous linear multi-agent systems
Anping Jiang, Liang Feng Dong, Chaoli Wang, Engang Tian, Jingling Zhang · International Journal of Systems Science · 2025
In the paper, the finite-time output regulation (FTOR) problem for a class of singular heterogeneous linear multi-agent systems (MASs) is investigated based on a proposed distributed observer approach. It is presumed that solely the children of the leader node are able to access the exosystem's state. The finite-time distributed observers over undirected graphs are designed to estimate the exact state of the leader node. Furthermore, the result is broadened to the directed case. Depending on the designed observer, the state feedback controller is presented to solve the FTOR problem, which relies on the coordinate transformation. The proposed scheme generalises the present results on the cooperative output regulation problem (CORP) to the singular dynamics via finite-time control design, thus improving the convergence rate. Finally, a simulation example is presented to illustrate the efficacy of the proposed design method.