Cooperative output regulation of a class of nonlinear uncertain multi-agent systems with unknown exosystem

This paper considers the global robust cooperative output regulation problem of a class of nonlinear multi-agent systems with an unknown exosystem and unknown control directions. The arbitrarily large unknown parameters in the exosystem and local control coefficients pose the main challenges. To design an effective adaptive distributed controller for the proposed problem, the Nussbaum gain technique and a modified extended matching design method are integrated with the internal model principle. As a special case, the global robust leader-following consensus problem for a class of nonlinear multi-agent systems can be solved by the proposed controller.