Cooperative output regulation of multi-agent systems with switched leader dynamics
Date of Original Version
In this paper, the cooperative output regulation problem for heterogeneous multi-agent systems is addressed by considering a switched leader dynamics. The switched leader dynamics consists of multiple linear models and a switching rule governing the switches among them. A switched leader is capable of generating various sophisticated reference signals for more complicated multi-agent coordination tasks. A novel distributed hybrid impulsive switching control scheme is proposed to achieve cooperative output regulation. Distributed switching stability is established using the average dwell-time technique with multiple Lyapunov functions. Moreover, the associated distributed control synthesis conditions are formulated in terms of linear matrix inequalities plus linear matrix equations. As a result, both switching rules for the leader and distributed switching protocols for the followers can be jointly synthesised via efficient semi-definite programming. An example has been used to demonstrate the effectiveness of the proposed approach.
Publication Title, e.g., Journal
International Journal of Systems Science
Yuan, Chengzhi, and Fen Wu. "Cooperative output regulation of multi-agent systems with switched leader dynamics." International Journal of Systems Science 49, 7 (2018): 1463-1477. doi: 10.1080/00207721.2018.1454537.