Cooperative global output regulation of heterogeneous second-order nonlinear uncertain multi-agent systems

In this paper, we study the cooperative global output regulation problem for a class of heterogeneous second order nonlinear uncertain multi-agent systems. We first introduce a type of distributed internal model that converts the cooperative global output regulation problem into the global robust stabilization problem of the so-called augmented multi-agent system. Then we further globally stabilize this augmented multi-agent system via a distributed state feedback control law, thus leading to the solution of the original problem. A special case of our result leads to the solution of the global leader-following consensus problem for the second order nonlinear multi-agent systems without satisfying the global Lipschitz condition.