Leader‐Following Output Synchronization for a Class of Uncertain Nonlinear Multi‐Agent Systems Under Uniformly Connected Network
Ranran Li · Asian Journal of Control · 2015
Abstract In this paper we study the cooperative global output regulation problem of a class of uncertain nonlinear multi‐agent systems under dynamic network topology. Distributed dynamic observers are introduced to estimate the states of the leader system or the called exosystem. Furthermore, we propose a multi‐channel input version of the changing supply rate theorem, through which the changing supply rate technique can be applied to the subsystem with multiple channels of the control inputs, and therefore control laws can be designed in a fully distributed way. As opposed to the existing results, in the current paper we allow the communication network topology to be uniformly connected. Finally, we apply our result to a group of well‐known Lorenz systems.