A nonlinear internal model design for heterogeneous second-order multi-agent systems with unknown leader

• Autores: Xinghu Wang, Youfeng Su, Dabo Xu
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 91, 2018, págs. 27-35
• Idioma: inglés
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• Resumen

  • This paper focuses on robust nonlinear coordination of heterogeneous uncertain second-order multi-agent systems subject to directed communication topologies. We develop a nonlinear internal model principle based approach for the problem in a framework of cooperative global robust output regulation, independent of the a priori of the leader dynamics information except its order. As a major consequence, this study assures, by means of establishing a strict-Lyapunov function for the closed-loop system, not only a specified exponential convergence rate but also tolerable bounds of unmodeled disturbances. Hence, the former guarantees an appealing performance and the latter an important robustness property.