Robust consensus of a class of heterogeneous nonlinear uncertain multi-agent systems subject to communication constraints

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In this paper, we investigate the robust output consensus problem of a class of heterogeneous second-order nonlinear uncertain multi-agent systems. In comparison with existing results, the communication constraints are taken into consideration. In particular, different agents cooperate through a time-varying communication network which can be disconnected at any time and communication among them is subject to heterogeneous time-varying delays. A distributed control law is designed by employing the distributed output regulation approach. Under a very mild connectivity condi­tion, we show that the robust output consensus problem of heterogeneous second-order nonlinear uncertain multi-agent systems can be solved.