Synchronized output regulation of nonlinear multi-agent systems

TL;DR

This paper addresses the synchronized output regulation problem for nonlinear multi-agent systems with switching graphs, proposing conditions under which agents can synchronize their outputs to a common exosystem.

Contribution

It introduces a new solution to the SOR problem for nonlinear multi-agent systems with switching graphs, extending output regulation theory to multi-agent synchronization.

Findings

SOR is solvable under bounded interconnectivity times condition

Both state feedback and output feedback solutions are provided

Numerical simulation confirms the theoretical results

Abstract

This paper considers the synchronized output regulation (SOR) problem of nonlinear multi-agent systems with switching graph. The SOR means that all agents regulate their outputs to synchronize on the output of a predefined common exosystem. Each agent constructs its local exosystem with the same dynamics as that of the common exosystem and exchanges the state information of the local exosystem. It is shown that the SOR is solvable under the assumptions same as that for nonlinear output regulation of a single agent, if the switching graph satisfies the bounded interconnectivity times condition. Both state feedback and output feedback are addressed. A numerical simulation is made to show the efficacy of the analytic results.