Full-order observer-based output regulation for linear heterogeneous multi-agent systems under switching topology

This study addressed the output regulation issue of linear heterogeneous multi-agent systems under switching topology. All agents excluding the external system are divided into two groups with measurable agents or unmeasurable agents. The agents’ states in the first group can be available for measurement while the agents’ states in the second group are unmeasurable. For the second group, a full-order Luenberger observer is devised to recover these agents’ states. Moreover, there are some agents that can not receive the information from the exosystem directly, thus, a dynamic compensator is constructed for these agents. Based on the proposed observer and compensator, a hybrid feedback control strategy is put forward to settle the output regulation issue. Furthermore, the information interaction among agents is expressed by the switching topology, and the topology is assumed to be jointly connected. Finally, two numerical examples are given to illustrate the feasibility of the theoretical results. The results show that whether the states are measurable or not, the proposed control strategy can address the output regulation issue of linear heterogeneous MASs under switching topology. Moreover, the comparative experiment indicates that our method obtains superior performance in terms of convergence speed, and is more efficient in dealing with practical problems.