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

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Pages (from-to)392-397
Journal / PublicationIFAC-PapersOnLine
Issue number18
Publication statusPublished - 2016


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.

Research Area(s)

  • adaptive control, cooperative control, multi-agent systems, nonlinear systems, Output regulation