Research on Cooperative Output Regulation and Inclusive Control of Nonlinear Multi-agent Systems

Abstract

In recent years, the cooperative control problem of multi-agent system has attracted the attention of researchers. Multi-agent system is composed of many autonomous agents, which is an important and basic research on multi-agent system cooperative control Content is the design of distributed controllers, so that the state of all agents or output tends to a common value. The cooperative control problem of multi-agent system includes three types: one is the convergence of non-leading agent; the other is the distributed tracking control problem of one leading agent; the other is the control problem of multiple leading agents. For the third category, this paper studies a cooperative output regulation and inclusion problem for a class of output feedback nonlinear agents. The relative order of all following agents is equal. When the relative order is larger than 1, only the distributions of intima are included which cannot solve the problem of co-output regulation. Therefore, a distributed controller is designed by recursive control design method, and the results are analyzed by experimental simulation.