Cooperative Global Robust Output Regulation for Nonlinear Uncertain Multi-Agent Systems in Lower Triangular Form

In this paper, we study the cooperative global robust output regulation problem for a class of lower triangular non-linear uncertain multi-agent systems. We first introduce a type of distributed internal model to convert the cooperative global robust output regulation problem into a global robust stabilization problem of a so-called augmented multi-agent system which is in the block lower triangular form. We then further show that, under a set of standard assumptions, the augmented multi-agent system can be globally stabilized via a distributed state feedback control law by developing a block backstepping technique. A special case of the main result of this paper leads to the solution of the leader-following global robust consensus problem for a class of non-linear uncertain multi-agent systems.