Coordinated Output Regulation of Heterogeneous Multi-agent Systems Under Switching Disconnected Topologies

This paper deals with the coordinated output regulation problem of heterogeneous multi-agent systems under switching disconnected topologies. The main difficulty is that the outputs of some disconnected agents can inevitably deviate from the divergent trajectories of exosystems across some periods. To break through this challenge, we propose an interesting approach named piecewise time unit approach, in which each switching interval consists of several time units. By analyzing the trajectories of error states under the distributed observer-based control, the decreasing properties of switching behaviors can be obtained to overcome the divergence of error states. Based on this, the sufficient conditions guaranteeing the output regulation can be obtained. Finally, a simulation example is given to demonstrate our results.