Cooperative semi-global robust output regulation for a class of nonlinear uncertain multi-agent systems |
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Authors: | Youfeng Su Jie Huang |
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Affiliation: | 1. College of Mathematics and Computer Science, Fuzhou University, Fuzhou, China;2. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong |
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Abstract: | In this paper, we study the cooperative semi-global robust output regulation problem for a class of minimum phase nonlinear uncertain multi-agent systems. This problem is a generalization of the leader-following tracking problem in the sense that it further addresses such issues as disturbance rejection, robustness with respect to parameter uncertainties. To solve this problem, we first introduce a type of distributed internal model that converts the cooperative semi-global robust output regulation problem into a cooperative semi-global robust stabilization problem of the so-called augmented system. We then solve the semi-global stabilization problem via distributed dynamic output control law by utilizing and combining a block semi-global backstepping technique, a simultaneous high gain feedback control technique, and a distributed high gain observer technique. |
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Keywords: | Cooperative control Multi-agent systems Output regulation Internal model Nonlinear uncertain systems |
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