Cooperative Output Regulation of Singular Multiagent Systems Under Switching Topologies

In this article, we consider the cooperative output regulation of singular multiagent systems under jointly connected switching topologies. The original problem is transformed into a stabilization problem by model transformation with the proposed distributed controller. Different from most existing controllers, a new graph-based switching compensator and its corresponding communication protocol are synthesized into the controller. The communication network does not remain connected at any time. And a triggered mechanism is designed to ensure that the communication between each pair of agents does not need to take place continuously. In the triggered mechanism, a novel design pattern is adopted to avoid Zeno behavior. The method in this article can reduce the computation and communication, and obtain a better tracking effect at the same time compared to previous results. Finally, a numerical simulation is given to show the effectiveness of the controller and the triggered mechanism.