Global robust distributed output consensus of multi-agent nonlinear systems: An internal model approach

Dabo Xu, Xinghu Wang, Yiguang Hong, Zhong Ping Jiang

Research output: Contribution to journalArticle


This paper studies the problem of global robust distributed output consensus of heterogeneous leader-follower multi-agent nonlinear systems by general directed output interactions. For a class of minimum-phase single-input single-output nonlinear agents having unity relative degree, it is shown that the problem is solvable by an internal model approach under certain mild conditions. A Lyapunov function based output-feedback control law is developed by converting the global output consensus into a global distributed stabilization problem for an augmented network.

Original languageEnglish (US)
Pages (from-to)64-69
Number of pages6
JournalSystems and Control Letters
StatePublished - Jan 2016



  • Consensus
  • Distributed stabilization
  • Multi-agent systems
  • Nonlinear systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)
  • Mechanical Engineering
  • Electrical and Electronic Engineering

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