Cooperative output regulation of singular multi-agent systems under adaptive distributed protocol and general entirety method

Abstract

This paper investigates the cooperative output regulation problem of heterogeneous linear multi-agent systems under singular dynamics and adaptive distributed protocol. Considering the followers do not know the matrix information of the leader, two novel adaptive distributed protocols are developed based on the state and measurement output. Then, as the technology basis of the cooperative output regulation strategy of the singular multi-agent systems considered in this paper, some stability analysis results of linear time-varying singular systems are proved. Next, sufficient conditions are established to solve the cooperative output regulation problem of heterogeneous singular multi-agent systems with the adaptive distributed protocols designed in this paper. The general entirety method is proposed, which avoids the design of standard reduction transformation matrices, the calculation of model reduction and the impulse-free hypothesis in the standard reduction method. Finally, numerical results are provided to demonstrate the feasibility and effectiveness of the proposed techniques.