Robust cooperative control for multi-agent systems via distributed output regulation

Robust cooperative control for multi-agent systems is considered in this paper, under the framework of the distributed output regulation problem. With some fundamental assumptions, two necessary and sufficient conditions are given for the distributed output regulation problem to be solvable. The algorithm of designing the robust distributed control law is provided, with the help of internal models. It is shown that this robust controller is effective in a neighborhood of the nominal system, which is tolerant of system uncertainties.