Hybrid Cooperative Output Regulation of Linear Multiagent Systems

Abstract

In this article, the hybrid cooperative output regulation problem for linear multiagent systems is formulated and investigated, where both the exosystem and the agent dynamics are hybrid linear systems with periodic jumps. To solve this problem, a distributed observer approach is proposed, which consists of two steps. First, a novel output-based hybrid distributed observer is designed which can achieve distributed information estimation for various practical hybrid exosystems. Second, by incorporating a decentralized hybrid output feedback control law with the proposed hybrid distributed observer, a hybrid distributed output feedback control law is synthesized to solve the hybrid cooperative output regulation problem. In comparison with the existing works targeting purely continuous-time multiagent systems, the simplified forms for both the hybrid distributed observer and the hybrid output feedback control law proposed in this article exhibit prominent advantages from various aspects, such as robustness against intermittent communication links and the sampled measurement of system output for feedback. The effectiveness of the theoretical results is validated by solving the output synchronization problem for a hybrid electrical system made up of multiple heterogeneous RC circuits, where the capacitors are switched on and off periodically.