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The purpose of this paper is to address a distributed output consensus design for a class of homogeneous and minimum phase leader-following multi-agent nonlinear systems. When the information digraph contains a directed spanning tree with the leader node as the root, it is shown that the problem can be approached by incorporating a single host internal model. An output feedback based Lyapunov protocol...
In this paper, a distributed semi-global consensus problem is studied for a class of nonlinear multi-agent systems with actuating disturbances. The problem is approached by a two-layer networked distributed control design, containing a configurable internal model network. A sufficient condition is presented for an output-feedback consensus protocol design.
This paper considers a global robust output consensus problem for multi-agent nonlinear systems by general directed output interactions. For heterogeneous and minimum-phase nonlinear agents transformable into an output-feedback form, it is shown that the problem is solvable by an internal model approach under certain mild conditions. A dynamic output-feedback protocol is developed by converting the...
This paper studies the global robust output regulation problem for a class of output feedback systems subject to an uncertain exosystem by using output feedback control. An adaptive control technique is used to handle the unknown parameter vector in the exosystem. It is shown that this unknown parameter vector can be exactly estimated asymptotically if the controller incorporates a minimal internal...
This paper presents the solution of the global robust output regulation problem for a class of nonlinear systems with relative degree one without knowing the control direction. The result is also applied to an asymptotic tracking problem associated with the well known Lorenz system.
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