Cooperative Semiglobal Robust Output Regulation of Non-Introspective Nonlinear Agents With Partial Normal Form and State-Dependent High-Frequency Gain

摘要

This paper investigates cooperative semiglobal robust output regulation problem for a class of nonintrospective nonlinear multiagent systems. Each agent of this class is allowed to have a partial normal form, instead of only the conventional normal form, with a state-dependent high-frequency gain. Besides, all agents are unaccessible to the controller states of their neighbors. In this setting, if the uniform detectability assumption in the sense of [25] is satisfied, then a robust distributed regulator can be designed with the employment of a distributed nonlinear intern al model and a novel distributed extended lower-power high-gain observer, such that the numerical implementation problem is solved and the regulated output of each agent asymptotically converges to the desired reference input robustly with guaranteed domain attraction.