H∞‐output regulation of linear heterogeneous multiagent systems over switching graphs

Summary In this paper, we analyze H ∞ ‐output regulation of linear heterogeneous multiagent systems. The agents are subject to modeled and unmodeled disturbances and communicate over a switching graph. We derive a sufficient condition that guarantees H ∞ output regulation for the mentioned setup. This sufficient condition places requirements on both the single‐agent systems and the switching graph. The requirement on the single‐agent systems is an H ∞ ‐criterion that should be satisfied by a proper design of the controller. Meanwhile, the switching graph needs to be maximally connected. Moreover, we derive an upper bound for the overall ‐gain of the output synchronization error with respect to the unmodeled disturbances over a fixed communication graph. We illustrate our technical developments by a simulation example.