Cooperative Robust Output Regulation for a Class of Nonlinear Multi-agent Systems over Jointly Connected Switching Networks

Abstract

In this paper, we consider the cooperative robust output regulation problem for a class of nonlinear multi-agent systems with relative degree two over jointly connected switching networks. First, by attaching each subsystem with an input driven filter, we obtain an extended system. Second, by integrating the distributed observer approach and the distributed internal model approach, we convert the cooperative output regulation problem of the original system into a distributed robust stabilization problem of an augmented error system which is also a multi-agent system. Finally, we solve the original problem by stabilizing the augmented error system via a distributed output feedback control law.