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The cooperative global robust output regulation problem for multi-agent systems is a generalization of the leader-following consensus problem. The problem has been studied for various multi-agent systems over connected static networks and for some special classes of nonlinear multi-agent systems over jointly connected switching networks. In this paper, we further consider the same problem for a class of heterogeneous lower triangular nonlinear multi-agent systems over jointly connected switching networks. This class of systems is quite general in that it contains inverse dynamics, is of any order, and its subsystems can have different relative degrees. We will integrate the adaptive distributed observer and the distributed internal model approach to come up with a recursive approach to deal with our problem. We will also apply our approach to a leader-following consensus problem for a group of hyperchaotic Lorenz systems. [ABSTRACT FROM AUTHOR]

In this technical note, we study the cooperative global robust output regulation problem for the unity relative degree nonlinear multi-agent system in normal form with a nonlinear leader system. The same problem was studied recently under the assumptions that the system contains only polynomial nonlinearities, the leader system is linear and the communication network is undirected. By employing a distributed nonlinear internal model, we will construct a control law that accommodates non-polynomial nonlinearities, nonlinear leader systems, and directed communication networks. Our result will be illustrated by an example with the well known Van der Pol oscillator as the leader system. [ABSTRACT FROM PUBLISHER]

In this paper, we study the cooperative global robust output regulation problem for a class of lower triangular nonlinear 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 nonlinear uncertain multi-agent systems. [ABSTRACT FROM AUTHOR]