Global robust output regulation for nonlinear multi-agent systems in strict feedback form

Abstract

In this paper, the cooperative global robust output regulation problem for a class of strict feedback nonlinear uncertain multi-agent systems is studied. We first introduce a type of distributed internal model that converts the cooperative global robust output regulation problem into a global robust stabilization problem of a so-called augmented multi-agent system which is in block lower triangular form. We then further present a set of sufficient conditions under which the augmented multi-agent system is globally stabilizable by a distributed state feedback control law.