Distributed output regulation of switching multi-agent systems subject to input saturation

In this study, we consider the distributed output regulation (DOR) problem of linear multi-agent systems subject to input saturation with switching topology. Owing to the input saturation elements, the considered systems is non-linear. It is natural to take the semiglobal frame for it which allows one to use distributed linear feedback controller. The basic problem is to design distributed feedback controller for the considered multi-agent systems in order to have all agents to track an active leader and/or distributed rejection with disturbance signals. Both the leader and the disturbance signal are modelled as the exogenous system with different dynamics and unmeasurable variables. A systematic distributed linear design approach based on the solvability condition is proposed for the considered DOR problem.