Adaptive Cooperative Output Regulation of Multi-Agent Systems in Nonlinear Lower Triangular Form

This paper considers a global cooperative output regulation problem for a class of multi-agent systems in nonlinear lower triangular form. Specifically, we focus on the problem under three relaxed conditions: (i) the agents have non-identical arbitrary relative degrees, (ii) the control directions are unknown and non-identical, and (iii) the communication graph is directed. To overcome these challenges, we develop a novel dynamic compensator based distributed controller. Moreover, the proposed controller is applied to cooperative control of a group of Lorenz systems to show the effectiveness of the proposed control scheme.