Output Regulation of Heterogeneous Multi-Agent Systems With Switched Linear Dynamics

In this work, we consider the output regulation problem of heterogeneous multi-agent systems whose agent dynamics are described by the switched linear system. First, when each agent is completely controllable, a novel control law and a switching path are constructed to solve the finite-time output regulation problem, and we can adjust this time appropriately according to the requirements. Second, when at least one agent is incompletely controllable, the key condition to solve the output regulation problem is the uncontrollable sub-mode of the incompletely controllable agent is consistently asymptotically stabilizable. Finally, numerical examples are provided to demonstrate the effectiveness of the theoretical results obtained in this paper.