A distributed output regulation problem for multi-agent linear systems with application to leader-follower robot's formation control

In this paper, an output regulation problem for multi-agent linear systems is considered. For such a problem, we have proposed a distributed controller design strategy based on composite nonlinear feedback (CNF) control. The composite nonlinear feedback (CNF) control consists of the dynamic state feedback servo-regulator and the nonlinear control part. The dynamic state feedback servo-regulator includes an internal model to achieve the objectives of asympototic tracking and disturbance rejection. And the nonlinear part is further applied to improve the transient performance of the closed-loop system. Finally, we have applied the proposed algorithm into the leader-follower robot's formation control problem. Using the software MobilesSim
^®
developed by the MobileRobots company, we have also presented the simulations to verify the effectiveness of the algorithm.