Cooperative Nonlinear Output Regulation of Multi-agent Systems with Uncertain Leader*

In this work, we investigate the cooperative output regulation problem of multi-agent uncertain nonlinear systems in lower triangular form with unknown leader. The cooperative output regulator construction is done based on a nonlinear internal model approach. Specifically, nonlinear internal models are first constructed, converting the cooperative output regulation problem into a cooperative stabilization problem of the augmented system, and then an integral input-to-state stable (iISS) based approach is proposed to solve the latter cooperative stabilization. It finally gives rise to a constructive state feedback design for cooperative nonlinear output regulation problem.