Cooperative Output Regulation of Nonlinear Multiagent Systems under a General Directed Graph

<div>The outputs <svg height="9.39034pt" id="M270" style="vertical-align:-3.42943pt" version="1.1" viewbox="-0.0498162 -5.96091 10.1233 9.39034" width="10.1233pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M556 393C556 426 537 448 514 448C496 448 478 435 471 420C468 414 462 401 466 394C473 382 480 368 480 346C480 268 392 143 338 67H336C329 163 319 253 309 330S286 448 254 448C215 448 160 383 127 337L143 311C167 344 200 373 208 373S222 365 229 320C246 214 264 66 268 -20C219 -83 131 -171 17 -239L25 -261L137 -235C248 -110 273 -79 335 8C384 77 481 215 520 287C544 332 556 363 556 393Z" id="g113-122"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="579" vert-adv-y="579"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,6.942,3.132)"><path d="M250 606C250 634 233 656 203 656C168 656 146 618 146 593C146 564 169 545 192 545C227 545 250 573 250 606ZM227 95L212 119C187 98 152 71 135 71C129 71 128 78 134 102L207 373C219 418 217 451 194 451C165 451 92 411 30 351L44 326C77 353 106 371 114 371C124 371 121 357 117 341L55 97C32 5 46 -12 70 -12C108 -12 191 51 227 95Z" id="g50-106"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="280" vert-adv-y="280"></glyph.data></g></svg> of the leader and all the followers with topology graph <svg height="12.522pt" id="M271" style="vertical-align:-0.2455006pt" version="1.1" viewbox="-0.0498162 -12.2765 10.1863 12.522" width="10.1863pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><rect height="0.65243" width="10.0867" x="0" y="-11.5742"></rect><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M417 653C377 677 335 687 290 687C171 687 83 622 83 541C83 462 150 415 250 398C231 363 224 320 224 292C224 212 282 165 361 165C409 165 455 180 499 209L500 208C439 89 369 16 246 16C183 16 127 48 122 79H124C131 68 141 66 153 66C181 66 197 90 197 117C197 142 173 164 146 164C111 164 87 134 87 95C87 39 157 -15 256 -15C421 -15 531 60 586 209C606 264 620 298 652 330L637 346C520 239 440 195 368 195C324 195 302 225 302 262C302 293 311 343 343 390C542 390 740 489 740 593C740 642 693 669 637 669C526 669 359 580 263 428C175 440 124 482 124 541C124 602 193 657 297 657C332 657 369 652 408 635L417 653ZM699 590C699 512 532 420 361 420C425 535 557 632 642 632C673 632 699 618 699 590Z" id="g198-8"></path><glyph.data ascent="687" descent="-226" horiz-adv-x="773" vert-adv-y="773"></glyph.data></g></svg>.</div>

Mathematical Problems in Engineering

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Figure 2

Figure 2: Cooperative Output Regulation of Nonlinear Multiagent Systems under a General Directed Graph 