Synchronized output regulation of nonlinear multi-agent systems

摘要

This paper considers the synchronized output regulation (SOR) problem ofnonlinear multi-agent systems with switching graph. The SOR means that allagents regulate their outputs to synchronize on the output of a predefinedcommon exosystem. Each agent constructs its local exosystem with the samedynamics as that of the common exosystem and exchanges the state information ofthe local exosystem. It is shown that the SOR is solvable under the assumptionssame as that for nonlinear output regulation of a single agent, if theswitching graph satisfies the bounded interconnectivity times condition. Bothstate feedback and output feedback are addressed. A numerical simulation ismade to show the efficacy of the analytic results.