Global Collaborative Robust Output Regulation Of Nonlinear Multi-agent Systems Based On Nonlinear Leadership

In the past ten years,distributed coordinated control problem for multi-agent systems has been extensively studied in different scenarios attention,due to its wild applications in military and engineering,such as unmanned aerial vehicle(UAV),sensor networks(WSN)and automated highway,etc.At present,most of the researches aim at nonlinear multi-agent systems with a nonlinear leader,in which the known control direction and the communication graph is static.However,little attention has been paid to the case of unknown control direction and switched communication graph.This paper mainly studies the cooperative global robust output regulation problem for a class of nonlinear multi-agent system with a nonlinear leader.Firstly,under the directed graph,the stabilization problem is proposed for augmented multi-agent system in the presence of unknown control direction and large parameter variations in each agents.Secondly,in the case of undirected graph,the stabilization problem is considered for a class of nonlinear multi-agent system with switching communication network.The main content of this paper is as follows:1.The cooperative global robust output regulation problem is proposed for the unity relative degree nonlinear multi-agent systems with unknown control directions.The cooperative global robust output regulation problem is firstly converted into an adaptive stabilization problem for an augmented multi-agent system.Then a distributed control law is designed by using Nussbaum function.Under relevant assumptions and lemmas,the global stability condition of the augmented system is obtained.By selecting an appropriate Lyapunov function,the global stability of the closed-loop system is obtained based on Barbalat's lemma.Moreover,the output of each agent tracks a class of prescribed signals asymptotically.Finally,the validity of the results is verified by a concrete example and simulink simulation.2.The cooperative global robust output regulation problem is studied for nonlinear multi-agent systems in output feedback form with any relative degree subject to switching networks.We first convert the original problem to a global robust stabilization problem of an augmented system via the nonlinear internal model approach and coordinate transformation.Then,the stability conditions of the augmented system are obtained by using multiple Lyapunov functions with average dwell time approach.Therefore,the global stability of original multi-agent system is proved.Finally,the validity of the results is verified by a concrete example and simulink simulation.