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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.

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This paper investigates the output consensus problem of heterogeneous discrete-time multiagent systems with individual agents subject to structural uncertainties and different disturbances. A novel distributed control law based on internal reference models is first presented for output consensus of heterogeneous discrete-time multiagent systems without structural uncertainties, where internal reference models embedded in controllers are designed with the objective of reducing communication costs. Then based on the distributed internal reference models and the well-known internal model principle, a distributed control law is further presented for output consensus of heterogeneous discrete-time multiagent systems with structural uncertainties. It is shown in both cases that the consensus trajectory of the internal reference models determines the output trajectories of agents. Finally, numerical simulation results are provided to illustrate the effectiveness of the proposed control schemes.