Cooperative global robust output regulation for nonlinear multi-agent systems in output feedback form with directed switching networks

In this paper, we study the cooperative global robust output regulation problem for nonlinear multi-agent systems in output feedback form with any relative degree subject to switching networks. After establishing two lemmas to lay the foundation for constructing a switching control law, we present the solvability conditions of our problem via the multiple Lyapunov functions and average dwell time method.