中文摘要：

这份报纸与交换一致地被连接的拓扑学学习联网的动态系统的同步产量规定(SOR ) 问题并且领导人生根。在这些联网的系统，追踪的信号或拒绝的骚乱被一样的 exosystem 产生，并且然而， exosystem 的状态为领导人节点仅仅是可得到的。首先， exosystem 的一个同步观察员在这份报纸被建议克服引起由的困难无法获得为有交换信息指导的追随者节点的 exosystem 的状态流动。观察员状态将同步到 exosystem 的状态，这被显示出。然后，二个反馈控制器基于分散的动态错误和状态被介绍解决这个 SOR 问题。而且，在这份报纸的主要想法将为认识到追踪的 multirobot 系统和形成要求提供一个有希望的方法。数字模拟结果被介绍表明理论结果的有效性。

英文摘要：

This paper studies the synchronized output regulation （SOR） problem of networked dynamic systems with switching topology that is uniformly connected and leader-rooted. In these networked systems, the tracked signal or the rejected disturbance is generated by the same exosystem, and however, the state of the exosystem is only available for leader nodes. First, a synchronization observer of the exosystem is proposed in this paper to overcome the difficulty caused by the unavailable state of the exosystem for follower nodes with directed switching information flow. It is shown that the observer state will synchronize to the state of the exosystem. Then, two feedback controllers based on decentralized dynamic error and state are presented to solve this SOR problem. Furthermore, the main idea in this paper will provide a promising way for realizing the multirobot systems＇ tracking and formation requirement. Numerical simulation results are presented to demonstrate the effectiveness of the theoretical results.