Cooperative Global Robust Stabilization for a Class of Nonlinear Multi-Agent Systems and its Application

TL;DR

This paper presents a new cooperative global robust stabilization method for nonlinear multi-agent systems, extending previous results to directed switching networks and removing certain growth conditions.

Contribution

It introduces a stabilization approach using multiple Lyapunov functions and average dwell time, applicable to directed networks and less restrictive nonlinear functions.

Findings

Successfully stabilizes nonlinear multi-agent systems under directed switching networks.

Removes previous restrictions on network undirectedness and nonlinear growth conditions.

Provides a unified framework for stabilization and output regulation in complex networks.

Abstract

This paper studies the cooperative global robust stabilization problem for a class of nonlinear multi-agent systems. The problem is motivated from the study of the cooperative global robust output regulation problem for the class of nonlinear multi-agent systems in normal form with unity relative degree which was studied recently under the conditions that the switching network is undirected and some nonlinear functions satisfy certain growth condition. We first solve the stabilization problem by using the multiple Lyapunov functions approach and the average dwell time method. Then, we apply this result to the cooperative global robust output regulation problem for the class of nonlinear systems in normal form with unity relative degree under directed switching network, and have removed the conditions that the switching network is undirected and some nonlinear functions satisfy certain growth condition.