Robust Cooperative Controller for Output Regulation in Multi- Robot Systems


  • Sajad Rostami Kia Department of Electrical Engineering, Ahar Branch, Islamic Azad University, Ahar, Iran
  • Adel Akbarimajd Univeristy of Mohaghegh Ardabili


Robust Control, Parameter Uncertainty, Decentralized Control, Multi-Agent Systems


In this paper a robust cooperative multi-agent controller is designed for a linear uncertain multi-robot system with a nonlinear exosystem. Multi-robot system is divided into two subsystems; the first group of subsystems can be associated with the leader while the second group has no leader. Assuming that all agents are similar and have the same dynamics and decentralized control, state and output feedback control rules are proposed. Multi-robot system with nonlinear exosystem is simulated in MATLAB and tracking performances with state and output feedback controllers are investigated.


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Author Biography

Adel Akbarimajd, Univeristy of Mohaghegh Ardabili

Associate Professor at Faculty of Electrical Engineering


How to Cite

Rostami Kia, S., & Akbarimajd, A. (2016). Robust Cooperative Controller for Output Regulation in Multi- Robot Systems. International Journal of Integrated Engineering, 8(2). Retrieved from



Issue on Mechanical, Materials and Manufacturing Engineering