A nonlinear internal model design for heterogeneous second-order multi-agent systems with unknown leader

作者：Wang, Xinghu; Su, Youfeng; Xu, Dabo^*

来源：Automatica, 2018, 91: 27-35.

DOI：10.1016/j.automatica.2018.01.003

• Nonlinear control
• Robust control
• Multi-agent system
• Internal model
• Strict-Lyapunov function

This paper focuses on robust nonlinear coordination of heterogeneous uncertain second-order multi-agent systems subject to directed communication topologies. We develop a nonlinear internal model principle based approach for the problem in a framework of cooperative global robust output regulation, independent of the a priori of the leader dynamics information except its order. As a major consequence, this study assures, by means of establishing a strict-Lyapunov function for the closed-loop system, not only a specified exponential convergence rate but also tolerable bounds of unmodeled disturbances. Hence, the former guarantees an appealing performance and the latter an important robustness property.

• 出版日期2018-5
• 单位南京理工大学; 福州大学; 中国科学技术大学