Funnel-Based Cooperative Output Regulation Control for Uncertain Nonlinear Multiagent Systems Under Input Saturation

Adaptive cooperative output regulation (COR) with funnel constraints is study for uncertain nonlinear multiagent systems (MASs) with nonsymmetric input saturation. First, an improved distributed predefined-time-based observer is presented to estimate the exogenous signal and the proposed controller based on the observer realizes the predefined-time (PT) convergence of the estimate errors. To tackle the “explosion of complexity” issue, a modified nonlinear filter is presented. Then, an adaptive algorithm utilizing the dynamic surface technique is developed to ensure practical PT stability of the controlled system (the settling-time can be preset arbitrarily), while meeting the funnel constraints. Notably, the inverse transformation function of the transformation error is not involved in the algorithm, which makes up for the deficiency of prescribed performance control. Meanwhile, the algorithm removes the assumption that the system functions are known, which reduces the conservatism of the algorithm. Finally, the validity of the theoretical findings is verified by simulation examples.