Cooperative Robust Output Regulation for Second-Order Nonlinear Multiagent Systems with an Unknown Exosystem

The cooperative robust output regulation problem for a class of second-order nonlinear multiagent systems with an exactly known exosystem has been studied recently. This paper further studies the same problem for the same class of systems subject to an unknown exosystem. We first show that the problem can be converted into the adaptive stabilization problem for an augmented system composed of the given multiagent system and the distributed internal model. Due to the unknown parameters in the exosystem, the augmented system is a nonlinear multi-input system with both linearly parameterized uncertainties and norm-bounded nonlinear uncertainty. By combining the adaptive control technique and the robust control technique, we will solve our problem by a distributed adaptive robust state feedback controller.