Cooperative output regulation for a class of nonlinear heterogeneous multi-agent systems

This paper considers the cooperative output regulation problem for a class of heterogeneous multi-agent systems with linearly parameterizable nonlinear matching uncertainties, which can be used to model electrical energy storage systems. Such a problem cannot be solved by the existing control approaches due to the heterogeneity and multi-input multi-output property of the agents' dynamics. To overcome the technical difficulties, we propose two distributed observer based control approaches which integrate the distributed observer/adaptive distributed observer techniques with the certainty equivalent adaptive control design. Sufficient conditions are given on the convergence of the estimated errors of the uncertain system parameters. Simulation results show the application of the proposed control approaches to the energy management of a battery energy storage system.