Cooperative Output Regulation for Uncertain Nonlinear Multi-Agent Systems with Unknown Control Directions*

Abstract: This paper concerns the global cooperative output regulation problem for a class of nonlinear multi-agent systems with unknown control directions and unknown exosystem. The communication among agents makes it difficult to implement the Nussbaum gain technique to handle the non-identical unknown control directions. Moreover, the unknown parameter in the exosystem, which cannot be easily handled by the estimators in existing results, makes our problem more intricate. To overcome these challenges, we employ a novel internal model candidate to develop a two-layer control scheme for an adaptive distributed controller design. Theoretic stability analysis is presented and a numerical example is given to show the effectiveness of the proposed controller.

[1]  Dabo Xu,et al.  Robust internal models for nonlinear output regulation with uncertain exosystems , 2016, CCC 2016.

[2]  Xinghu Wang,et al.  Output regulation of nonlinear output feedback systems with exponential parameter convergence , 2016, Syst. Control. Lett..

[3]  Gang Feng,et al.  Global cooperative output regulation for nonlinear multi-agent systems with unknown control directions , 2015, 2015 54th IEEE Conference on Decision and Control (CDC).

[4]  Gang Feng,et al.  Global robust output regulation for a class of nonlinear output feedback systems , 2014, 2014 13th International Conference on Control Automation Robotics & Vision (ICARCV).

[5]  X. Ye,et al.  Adaptive nonlinear design without a priori knowledge of control directions , 1998, IEEE Trans. Autom. Control..

[6]  Lu Liu,et al.  Adaptive Cooperative Output Regulation for a Class of Nonlinear Multi-Agent Systems , 2015, IEEE Transactions on Automatic Control.

[7]  G. Kreisselmeier.  Adaptive observers with exponential rate of convergence , 1977 .

[8]  Xiaobo Li,et al.  Adaptive Consensus of Multi-Agent Systems With Unknown Identical Control Directions Based on A Novel Nussbaum-Type Function , 2014, IEEE Transactions on Automatic Control.

[9]  Richard M. Murray,et al.  Consensus problems in networks of agents with switching topology and time-delays , 2004, IEEE Transactions on Automatic Control.

[10]  Lorenzo Marconi,et al.  Robust output synchronization of a network of heterogeneous nonlinear agents via nonlinear regulation theory , 2013, 52nd IEEE Conference on Decision and Control.

[11]  Xinghu Wang,et al.  Distributed output regulation for a class of nonlinear multi-agent systems with unknown-input leaders , 2015, Autom..

[12]  Lijun Zhu,et al.  Robust homogenization and consensus of nonlinear multi-agent systems , 2014, Syst. Control. Lett..

[13]  Jie Lin,et al.  Coordination of groups of mobile autonomous agents using nearest neighbor rules , 2003, IEEE Trans. Autom. Control..

[14]  Wei Ren,et al.  Multi-vehicle consensus with a time-varying reference state , 2007, Syst. Control. Lett..

[15]  Jie Huang,et al.  Cooperative Global Robust Output Regulation for Nonlinear Uncertain Multi-Agent Systems in Lower Triangular Form , 2015, IEEE Transactions on Automatic Control.

[16]  Jie Huang,et al.  Parameter convergence and minimal internal model with an adaptive output regulation problem , 2009, Autom..

[17]  Lorenzo Marconi,et al.  Semi-global nonlinear output regulation with adaptive internal model , 2001, IEEE Trans. Autom. Control..

[18]  Zhengtao Ding,et al.  Adaptive consensus output regulation of a class of nonlinear systems with unknown high-frequency gain , 2015, Autom..

[19]  Jie Huang,et al.  Cooperative adaptive output regulation for a class of nonlinear uncertain multi-agent systems with unknown leader , 2013, Syst. Control. Lett..