Synchronized output regulation of nonlinear multi-agent systems ∗

This paper considers the synchronized output regulation (SOR) problem of nonlinear multi-agent systems with switching graph. The SOR means that all agents regulate their outputs to synchronize on the output of a predefined common exosystem. Each agent constructs its local exosystem with the same dynamics as that of the common exosystem and exchanges the state information of the local exosystem. It is shown that the SOR is solvable under the assumptions same as that for nonlinear output regulation of a single agent, if the switching graph satisfies the bounded interconnectivity times condition. Both state feedback and output feedback are addressed. A numerical simulation is made to show the efficacy of the analytic results