Robust Perturbed Output Regulation and Synchronization of Nonlinear Heterogeneous Multiagents

The conventional robust output regulation problem aims to achieve reference tracking and disturbance rejection in the presence of system uncertainties while the references and disturbances are generated by an autonomous exosystem. When the exosystem is perturbed by an external event, a novel robust perturbed output regulation problem is formulated and solved in this paper. The formulation arises from a class of synchronization problem of multiple agents. With the aid of a new reference model-based control framework, the proposed solution to the robust perturbed output regulation problem leads to a decentralized control algorithm for synchronization of multiple agents of nonlinear heterogeneous dynamics.