Decentralized global robust output regulation for nonlinear multi-agent systems in the output feedback form with arbitrarily large uncertainty
Wei Liu, Jie Huang, Zongli Lin · 2016
The global robust output regulation problem for nonlinear multi-agent systems in the output feedback form with uncertainty of a known bound has been studied in one of our previous papers by a distributed output feedback control law, a control law that features the nearest neighbor principle. This paper further studies the global robust output regulation problem for the same class of systems with arbitrarily large uncertainty by a combined robust and adaptive high gain technique. A recursive procedure is developed for constructing a decentralized output feedback control law. For systems with a relative degree smaller than 3, the decentralized output feedback control reduces to a distributed output feedback control law.