Cooperative Output Regulation of Heterogeneous Nonlinear Multi-Agent Systems Based on T-S Fuzzy Models

This paper studies the problem of cooperative output regulation of heterogeneous nonlinear multi-agent systems. Firstly, the T-S fuzzy model is used to describe the heterogeneous nonlinear multi-agent systems. Then, a distributed fuzzy observer is designed to get estimation of the states of the followers and the leader. An adaptive distributed controller is proposed based on the observer. It can be proved that the systems can achieve cooperative output regulation under the designed controller by using regulator equations. Finally, the analytic results are verified by simulation.