Cooperative global output regulation for a class of non-linear multi-agent systems with a non-linear exosystem

This study considers the cooperative global output regulation problem for a class of non-linear multi-agent systems. In particular, the authors consider the case that the exosystem is of a non-linear form. With a distributed non-linear observer of the exosystem and the solvability assumption of the regulator equations, the authors convert the problem into a global cooperative stabilisation problem. Sufficient conditions are derived for the global cooperative stabilisation problem under fixed directed network topologies and switching undirected network topologies, respectively. Finally, the validity of the proposed approach is illustrated by simulation results.