Control of second-order nonlinear multi-agent systems with unknown leaders

This paper studies cooperative global output regulation of a class of heterogeneous second-order nonlinear multi-agent systems. The agents states stand for positions and velocities and their dynamics can be heterogeneous and nonlinear, containing unknown parametric uncertainties. In particular, we show solvability of the problem in the situation of unknown exosystems or leaders. Based on a nonlinear internal model principle, we develop an integral input-to-state stability (iISS) based Lyapunov method for a constructive nonlinear feedback protocol design.