Cooperative semiglobal robust output regulation of non-introspective nonlinear agents with partial normal form and state-dependent high-frequency gain
This paper investigates cooperative semig-lobal robust output regulation problem for a class of non-introspective nonlinear multiagent systems. Each agent of this class is allowed to have a partial normal form, instead of only the conventional normal form, with a state-dependent high-frequency gain....
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| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
2021
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/150425 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | This paper investigates cooperative semig-lobal robust output regulation problem for a class of non-introspective nonlinear multiagent systems. Each agent of this class is allowed to have a partial normal form, instead of only the conventional normal form, with a state-dependent high-frequency gain. Besides, all agents are unaccessible to the controller states of their neighbors. In this setting, if the uniform detectability assumption in the sense of [25] is satisfied, then a robust distributed regulator can be designed with the employment of a distributed nonlinear internal model and a novel distributed extended lower-power high-gain observer, such that the numerical implementation problem is solved and the regulated output of each agent asymptotically converges to the desired reference input robustly with guaranteed domain attraction. |
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