Adaptive cooperative output regulation of nonlinear multiagent systems with arbitrarily large parametric uncertainties and an uncertain leader

Abstract

SummaryThis paper extends the result for cooperative output regulation problem for uncertain nonlinear multiagent systems in output feedback form in the sense that the exosystem generating leader's signal and disturbance is allowed to contain unknown parameter, and all parameters in the whole multiagent system can be arbitrarily large. Since only the information of itself and its neighbors is available, constructing a distributed control law is necessary for the asymptotic tracking of the uncertain leader's signal and the rejection of unknown external disturbances, which is also the main challenge here. A series of simulations are conducted to illustrate the efficiency and advantage of our designs together with the comparison of the design in the existing work.