Cooperative Robust Output Regulation of Linear Multi-Agent Systems under Switching Networks

This paper addresses the robust output regulation of linear heterogeneous multi-agent systems under switching and undirected network topology. Due to uncertain parameters in every agent or subsystem, an internal model method is adopted in the sense that the controller allows the system uncertain parameters to vary in a neighborhood of the nominal system. By designing two kinds of appropriate distributed control scheme, output regulation problem is well solved. A numerical example is presented to illustrate the effectiveness of the proposed method.