Synchronized output regulation of switching networks based on synchronization observer

This paper studies the synchronized output regulation (SOR) problem of networked dynamic systems with switching topology that is uniformly connected and leader-rooted. In these networked systems, the tracked signal or the rejected disturbance is generated by the same exosystem, and however, the state of the exosystem is only available for leader nodes. First, a synchronization observer of the exosystem is proposed in this paper to overcome the difficulty caused by the unavailable state of the exosystem for follower nodes with directed switching information flow. It is shown that the observer state will synchronize to the state of the exosystem. Then, two feedback controllers based on decentralized dynamic error and state are presented to solve this SOR problem. Furthermore, the main idea in this paper will provide a promising way for realizing the multirobot systems’ tracking and formation requirement. Numerical simulation results are presented to demonstrate the effectiveness of the theoretical results.