Cooperative global robust output regulation for a class of nonlinear multi-agent systems with communication delays

In this paper, we study the cooperative global robust output regulation problem for a class of nonlinear multi-agent systems. Similar problems have been studied by some existing results. However, to the best of our knowledge, the communication delay has never been considered in cooperative output regulation problem for nonlinear multi-agent systems. By integrating the distributed feedforward approach and the distributed internal model approach, we construct a distributed output feedback control law. It is shown that the proposed control law can accommodate arbitrarily bounded nonuniform time-varying communication delays and directed network topology. Finally, the main result is illustrated by cooperative control of a group of controlled Lorenz systems.