Cooperative semi-global robust output regulation of nonlinear uncertain multi-agent systems

In this paper, we study the cooperative semi-global robust output regulation problem for a class of minimum phase nonlinear uncertain multi-agent systems. We first introduce a type of distributed internal model that converts the cooperative semi-global robust output regulation problem into a cooperative semi-global robust stabilization problem of the so called augmented system. Then we solve the semi-global stabilization problem via a distributed dynamic output control law by combining a block semi-global backstepping technique, a simultaneous high gain feedback control technique, and a distributed high gain observer technique.