Distributed robust consensus control for nonlinear multi-agent systems by using output regulation approach

This paper deals with the distributed robust output regulation problem for the multi-agent systems with general nonlinear dynamics and uncertainty parameters. Assume that the information of active leaders or environmental disturbances cannot be completely measurable for all other agents. By employing the centre manifold theory and characteristics of the agents’ communication, the nonlinear distributed dynamic feedback controllers are designed to make the agents asymptotically track the references or reject the disturbance signals, which are generated by the exosystem. Two numerical examples are provided to show the effectiveness of the main results.