Cooperative Output Regulation Problem of Nonlinear Multiagent Systems With Proximity Graph via Output Feedback Control

This article considers the cooperative output regulation problem of nonlinear output feedback systems under the communication network modeled by the proximity graph, which is time varying and state dependent. Under the relaxed assumption that the proximity graph is initially connected, based on an improved potential function, we first propose a distributed connectivity-preserving output feedback control law with a linear internal model and distributed observer, which is robust to uncertain parameter and external disturbances in heterogeneous subsystems with strong nonlinearity. Successively, an adaptive design with parameter update law is derived to further tolerate an uncertain parameter in the exosystem, which generates the leader's trajectory and external disturbances.