Cooperative global robust output regulation for second-order nonlinear multi-agent systems with jointly connected switching networks

Abstract

This paper studies the cooperative global robust output regulation problem for a class of heterogeneous second-order nonlinear uncertain multi-agent systems with jointly connected switching network. We first generalize the result of the adaptive distributed observer from undirected switching networks to directed switching networks, and then solve the problem by a dynamic distributed state feedback control law based on an integration of the adaptive distributed observer method and the distributed internal model design approach. Our result is illustrated by the leader-following consensus problem for a group of Van der Pol oscillators.