Cooperative output regulation for a class of non-linear multi-agent systems

In this study, the authors consider the consensus output regulation problem for a class of non-linear multi-agent systems with subsystems have the same relative degree. The multi-agent system is heterogeneous that means subsystems may have different dynamics. The author´s goal is to design a dynamic controller such that the outputs of subsystems follow a desired trajectory which is the output of exosystem. A recursive procedure and internal model are employed to achieve this goal.