Cooperative output regulation problem of a class of linear multi-agent system with switched exosystems

In this paper we investigate the cooperative output regulation problem of linear multi-agent systems with a switched exosystem which is assumed that some subsystems are Hurwitz stable, some are neutral stability, and the others are unstable. We will deal with two difficulties in the paper. One is the complexity of the switched exosystem trajectory. The other is the limited information exchanges of different agents. Firstly, the switched exosystem is less than or equal to an bounded function by satisfying a switched law of stable subsystem and unstable subsystem running time ratio. Then, by devising a distributed switched observer to estimate the states of the exosystem, we can solve the output regulation problem by distributed state feedback control. At last, a numerical simulation example is provided to demonstrate the effectiveness of the results.