Abstract
In this paper, the distributed formation control problem for multi-agent systems with affine nonlinear dynamic is considered. In order to solve the problem, we generalize the output regulation problem of nonlinear systems to multi-agent systems and design a distributed control scheme. Based on the internal model principle, the distributed output regulation formation control problem can be solved by solving the regulator equations. Moreover, the simulation example is provided to demonstrate the effectiveness of the main results.
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