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Research Papers

Cooperative Global Robust Output Regulation for Nonlinear Multi-Agent Systems in Output Feedback Form

[+] Author and Article Information
Yi Dong

Shenzhen Research Institute,
The Chinese University of Hong Kong,
Shenzhen, China;
Department of Mechanical and
Automation Engineering,
The Chinese University of Hong Kong,
Shatin N.T., Hong Kong, China
e-mail: ydong@mae.cuhk.edu.hk

Jie Huang

Shenzhen Research Institute,
The Chinese University of Hong Kong,
Shenzhen, China;
Department of Mechanical and
Automation Engineering,
The Chinese University of Hong Kong,
Shatin N.T., Hong Kong, China
e-mail: jhuang@mae.cuhk.edu.hk

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received September 5, 2012; final manuscript received November 27, 2013; published online January 20, 2014. Assoc. Editor: Eugenio Schuster.

J. Dyn. Sys., Meas., Control 136(3), 031001 (Jan 20, 2014) (5 pages) Paper No: DS-12-1292; doi: 10.1115/1.4026135 History: Received September 05, 2012; Revised November 27, 2013

In this paper, we consider the global robust output regulation problem for a class of nonlinear multi-agent systems by distributed output feedback control. We first show that the problem can be converted into the global stabilization problem of a class of multi-input, multi-output nonlinear systems called augmented system. Then, we further show that, under a set of standard assumptions, the augmented system can be globally stabilized by a distributed output feedback control law. Finally, we apply our approach to solve a leader-following synchronization problem for a group of Lorenz multi-agent systems.

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References

Su, Y., Hong, Y., and Huang, J., 2013, “A General Result on the Robust Cooperative Output Regulation for Linear Uncertain Multi-agent Systems,” IEEE Trans. Autom. Control, 58(5), pp. 1275–1279. [CrossRef]
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Su, Y., and Huang, J., 2012, “Cooperative Output Regulation of Linear Multi-agent Systems,” IEEE Trans. Autom. Control, 57(4), pp. 1062–1066. [CrossRef]
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Dong, Y., and Huang, J., 2013, “Cooperative Global Robust Output Regulation for Nonlinear Multi-agent Systems in Output Feedback Form,” The IASTED International Conference on Modelling, Identification and Control, Phuket, Thailand, pp. 138–143.
Huang, J., and Chen, Z., 2004, “A General Framwork for Tackling the Output Regulation Problem,” IEEE Trans. Autom. Control, 49(12), pp. 2203–2218. [CrossRef]
Huang, J., 2004, Nonlinear Output Regulation: Theory and Applications, SIAM, Phildelphia, PA.
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Jiang, Z., 1999, “A Combined Backstepping and Small-gain Approach to Adaptive Output Feedback Control,” Automatica, 35(6), pp. 1131–1139. [CrossRef]
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Figures

Grahic Jump Location
Fig. 1

The network topology

Grahic Jump Location
Fig. 2

The tracking errors ei, i=1,…,4

Grahic Jump Location
Fig. 3

The output of subsystems yi, i=0,1,…,4

Grahic Jump Location
Fig. 4

The states of all followers zi, i=1,…,4

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