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Nonlinear output-feedback tracking in multiagent systems with an unknown leader and directed communication

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Abstract

This paper addresses cooperative global robust output regulation for heterogeneous and uncertain multiagent nonlinear systems in the output-feedback normal form. Specifically, we develop a Lyapunov-based dynamic output-feedback law using a nonlinear internal model approach. We show that an effective control law can be constructed under general (static) directed communication topologies even when the leader is unknown. Hence, the present study offers a more general investigation of the problem in comparison with the developments in the recent literature.

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Acknowledgements

This work was supported in part by National Natural Science Foundation of China (Grant Nos. 61673216, 61773122, 61873250, 62073168) and USTC Research Funds of the Double First-Class Initiative (Grand No. YD2100002002).

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Authors and Affiliations

  1. Department of Automation, University of Science and Technology of China, Hefei, 230027, China

    Xinghu Wang

  2. College of Mathematics and Computer Science, Fuzhou University, Fuzhou, 350116, China

    Youfeng Su

  3. School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, China

    Dabo Xu

Authors
  1. Xinghu Wang
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  2. Youfeng Su
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  3. Dabo Xu
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Correspondence to Dabo Xu.

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Wang, X., Su, Y. & Xu, D. Nonlinear output-feedback tracking in multiagent systems with an unknown leader and directed communication. Sci. China Inf. Sci. 64, 222202 (2021). https://doi.org/10.1007/s11432-020-3108-6

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  • DOI: https://doi.org/10.1007/s11432-020-3108-6

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