A Lyapunov's Direct Method for Coorperative Output Regulation of Nonlinear Multi-Agent Systems
Songlin Wei, Youfeng Su · 2023
The cooperative global robust output regulation problem for a class of nonlinear uncertain multi-agent systems with dynamic uncertainty has been approached by some distributed state feedback control law, however this method does not produce an explicit Lyapunov function for the closed-loop system. In this paper, we develop a Lyapunov's direct method to solving the global robust output regulation problem for the mentioned systems and produce the corresponding controller. Moreover, the Lyapunov function for the closed-loop system will be a superposition of those of individual subsystems.