Cooperative Output Regulation via Bumpless Transfer Control for Switched Multiagent Systems Under Dynamic Output Feedback

This article investigates the cooperative output regulation problem via bumpless transfer (BT) control for switched multiagent systems. First of all, a novel distributed estimator is constructed to track the exosystem for each agent via dynamic output feedback and aperiodic sampled-data transmission. Through the time-dependent Lyapunov functional and free-weighed matrix, the tracking performance between the estimator and the exosystem is achieved and auxiliary dynamic variable asymptotically converges to zero. Further, according to the information of observer and estimator for each agent, the BT controller and the agent-state-dependent switching law are jointly designed to suppress control bumps and determine which subsystem to be activated. Besides, to cope with the tough scenario that the classical design of a single controller for each subsystem cannot achieve the decline of Lyapunov function and satisfactory BT performance simultaneously, two controllers are designed for each subsystem. In this way, a two-layer switching strategy is presented to deal with the problem of cooperative output regulation with satisfactory BT performance. Finally, two examples are provided to demonstrate the validity of results.