In this paper, we consider the problem of consensus of a network of heterogeneous nonlinear agents on a family of different desired trajectories generated by an uncertain leader. We design a set of local reference generators and local controllers, which guarantees that the agents achieve consensus robustly on all possible trajectories inside this family. The design of the local reference generators is based on the possibility to express the trajectory of the leader as a nonlinear regression law, which is parametrized by some constant unknown parameters.

中文翻译：

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具有不确定领导者的异构非线性代理网络中的多模式输出一致性：非线性回归方法


在本文中，我们考虑异构非线性代理网络对不确定领导者生成的一系列不同期望轨迹的共识问题。我们设计了一组局部参考生成器和局部控制器，这保证了代理在该族内的所有可能轨迹上达成稳健的共识。局部参考生成器的设计基于将先导轨迹表示为非线性回归定律的可能性，该非线性回归定律由一些恒定的未知参数参数化。