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 acheive the objectives of aysmpototic tracking and disturbance rejection. And the nonlinear part is further appiled 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 (R) developed by the MobileRobots company, we have also presented the simulations to verify the effectiveness of the algorithm.