Cooperative output regulation for nonlinear multi-agent systems described by T-S fuzzy models under jointly connected switching topology

Abstract This paper studies the problem of the cooperative output regulation for a class of nonlinear multi-agent systems described by T-S fuzzy models subject to the jointly connected switching topology. The considered switching topology permits the topology to be disconnected at any time interval which is weaker than the connected topology assumption. By using the parallel distributed compensation, the fuzzy internal reference model for each agent is constructed to estimate the exogenous signal, based on which, the distributed dynamic fuzzy output feedback controller is designed. The constructed fuzzy internal reference model is a switched nonlinear system where each subsystem may be unstable. An efficient condition is presented to ensure the solvability of the cooperative output regulation. An example of coupled pendula illustrates the validity of the result.