文章基本信息

标题：Cooperative Output Regulation for Uncertain Nonlinear Multi-Agent Systems with Unknown Control Directions
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作者：Meichen Guo ; Meichen Guo ; Dabo Xu 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：18
页码：392-397
DOI：10.1016/j.ifacol.2016.10.197
语种：English
出版社：Elsevier
摘要：Abstract: 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.
关键词：KeywordsOutput regulationmulti-agent systemsnonlinear systemscooperative controladaptive control