Distributed Robust Output Regulation for Nonlinear Multi-Agent Systems
Zhongxin Liu · Fuza xitong yu fuzaxing kexue · 2012
In this paper,the coordinative control problem of a multi-agent system with general nonlinear dynamics and uncertainty parameters is considered in order to solve it,the nonlinear distributed feedback control is designed to make the agents robustly and asymptotically track the reference or reject disturbance.The reference or disturbance signals are generated by an exosystem,which is viewed as active leaders or the environmental disturbance in the considered multi-agent system.Finally,an illustrative example is provided to demonstrate the effectiveness of the obtained results.