Distributed Output Regulation for a Class of Nonlinear Multi-Agent Systems with Unknown-Input Leaders

摘要

In this paper, a distributed output regulation problem is formulated for aclass of uncertain nonlinear multi-agent systems subject to local disturbances.The formulation is given to study a leader-following problem when the leadercontains unknown inputs and its dynamics is different from those of thefollowers. Based on the conventional output regulation assumptions and graphtheory, distributed feedback controllers are constructed to make the agentsglobally or semi-globally follow the uncertain leader even when the bound ofthe leader's inputs is unknown to the followers.