Cooperative Global Robust Output Regulation for Nonlinear Multi-Agent Systems in Output Feedback Form

Yi Dong and Jie Huang


nonlinear, output regulation, multi-agent system


In this paper we consider the global robust output regulation problem for a class of nonlinear multi-agent systems by distributed output feedback control. We first show that the problem can be converted into the global stabilization problem of a class of multi-input, multi-output nonlinear systems called augmented system. Then we further show that, under a set of standard assumptions, the augmented system can be globally stabilized by a distributed output feedback control law. Finally, we apply our approach to solve a leader-following synchronization problem for a group of Lorenz multi-agent systems.

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