Coordinative control of multi-agent systems using distributed nonlinear output regulation

In this paper, the coordinative control problem of a multiagent system with general nonlinear dynamics is addressed. This multiagent coordination problem can be formulated as a nonlinear output regulation problem, and in order to solve it, the nonlinear distributed coordinative control is designed to make the agents asymptotically track the reference or reject disturbance. The reference or disturbance signals are generated by an exosystem, which can be considered as active leaders or the environmental disturbance in the considered multiagent systems. Finally, an illustrative example is provided to demonstrate the effectiveness of the main results.