  In this technical note, we investigate an optimal output consensus problem
for heterogeneous uncertain nonlinear multi-agent systems. The considered
agents are described by high-order nonlinear dynamics subject to both static
and dynamic uncertainties. A two-step design, comprising sequential
constructions of optimal signal generator and distributed partial stabilization
feedback controller, is developed to overcome the difficulties brought by
nonlinearities, uncertainties, and optimal requirements. Our study can not only
assure an output consensus, but also achieve an optimal agreement characterized
by a distributed optimization problem.
