Cooperative Output Regulation of Heterogeneous Nonlinear Multi-Agent Systems with Unknown Control Directions

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Original languageEnglish
Article number7565590
Pages (from-to)3039-3045
Journal / PublicationIEEE Transactions on Automatic Control
Issue number6
Online published13 Sep 2016
Publication statusPublished - Jun 2017


This technical note considers global cooperative output regulation for a class of heterogeneous nonlinear multi-agent systems. By using the internal model principle and the adaptive control technique, a novel distributed adaptive control scheme is developed. Contrary to most existing results, the proposed controller is applicable to multi-agent systems with agents of non-identical relative degrees and non-identical unknown control directions under a general digraph. Moreover, any existing Nussbaum-type functions can be adopted in the proposed control scheme, and the adopted Nussbaum-type functions can be non-identical for each agent. It is shown that global cooperative output regulation of the controlled multi-agent system can be achieved under some mild assumptions. A numerical example is finally presented to illustrate the effectiveness of the proposed controller.

Research Area(s)

  • Multi-Agent systems, nonlinear control, Nussbaum functions, output regulation