Linear output regulation with cooperative parallel operation of multiple actuators over jointly connected switching networks

The problem of linear output regulation with cooperative parallel operation of multiple actuators aims to regulate the plant output while ensuring equal sharing of the plant input among the actuators. This paper studies the scenario of a jointly connected switching communication network among the actuators, which is time-varying and can be disconnected at any time. We demonstrate that output regulation of the closed-loop system can be established by designing a distributed dynamic output feedback control law. Moreover, we show that if the system matrix of the distributed controllers is not exponentially unstable, then equal sharing of the plant input among the actuators can also be achieved by the proposed control law. Finally, we present a numerical example to validate the effectiveness of our design.