Distributed Output Regulation for Multi-Agent Systems in Output Feedback Form with Parametric-Uncertain Leaders*

In this paper, the distributed output regulation problem for a class of nonlinear multi-agent systems in output feedback form is considered. Here, the leader in the multi-agent system contains parametric uncertainties and the interconnection topology is described by a chain digraph. With regarding the leader as an exosystem, a distributed regulator is constructed by combining a distributed internal model and a distributed dynamic output feedback control.