A distributed control design for the output regulation and output consensus of a class of switched linear multi-agent systems

This paper presents the design of a distributed control law for output regulation and output consensus of a set of N agents. In this approach each agent dynamics is represented by a Switched Linear System (SLS). Agent SLS systems are neither constrained to be the same nor to have the same state dimension. In the communication topology, some agents get the reference from the output of a virtual agent, and every agent gets the output information of its neighbors resulting in a connected topology. Using this information, every agent computes the exosystem state to solve its own regulation problem. The approach herein proposed employs a local switched stabilizing feedback for each agent such that it has a common Lyapunov function. Finally, considering this assumption, the existence of a Lyapunov function which ensures the stability of the multi-agent regulation error is demonstrated.