An Internal Model Based Semi-global Output Feedback Control for Nonlinear Multi-agent Systems

Abstract

Abstract In this paper, we present an internal model based output feedback control for the cooperative semi-global output regulation of nonlinear strict-feedback multi-agent systems with arbitrary non-identical relative degrees. The problem is first converted into a cooperative semi-global stabilization problem by introducing a distributed internal model. We then propose a distributed output feedback stabilizer that is determined by a distributed high-gain observer. It is shown that this novel observer is capable of estimating the states of nonlinear subsystems with arbitrary non-identical relative degrees.