Distributed Optimization of Nonlinear Multi-agent Systems with Disturbance Rejection

This paper considers the distributed optimization problem based on nonlinear multi-agent systems with the unity relative degree, where the agent plant is subject to external disturbances generated by the nonlinear exosystem. A distributed nonlinear internal model is established for construct a distributed optimization controller. It is shown that the consensus can be reached and the disturbance can be rejected simultaneously. A simulation is provided to validate the theoretical results.