Adaptive control for cooperative linear output regulation of heterogeneous multi-agent systems with periodic switching topology

This study investigates the cooperative linear output regulation problem of heterogeneous multi-agent systems with periodic switching topologies. A novel distributed adaptive control law is presented based on dynamic state feedback with the feedback gain independent of the Laplacian matrix of the underlying system communication topology. It is shown that the cooperative output regulation problem can be solved under a necessary and sufficient condition. Finally, a numerical example is provided to demonstrate the effectiveness of the proposed control law.