Coordinative control on output regulation of multi-agent systems with general nonlinear dynamics

In this paper, the output regulation problem of a multi-agent system with general nonlinear dynamics is addressed. To solve this problem, the nonlinear distributed coordinative controller is designed, so that the agents can 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 multi-agent systems. Finally, a numerical simulation example is provided to demonstrate the effectiveness of the main results.