Event-triggered distributed containment control of heterogeneous singular multi-agent systems by an output regulation approach

This paper investigates the cooperative output regulation problem of singular heterogeneous multi-agent systems. General distributed observers are proposed for every agent obtaining the estimated state of the exosystem. The feedforward control technique is used to design realtime distributed singular output feedback controllers and event-triggered distributed singular output feedback controllers to solve containment control problem. The proposed cooperative dynamic controller is dependent on the plant parameters and the interaction topologies. A simulation examples are provided to illustrate our established results.