Observer-Based Robust Coordinated Control of Multiagent Systems With Input Saturation.

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This paper addresses the robust semiglobal coordinated control of multiple-input multiple-output multiagent systems with input saturation together with dead zone and input additive disturbance. Observer-based coordinated control protocol is constructed, by combining the parameterized low-and-high-gain feedback technique and the high-gain observer design approach. It is shown that, under some mild assumptions on agents' intrinsic dynamics, the robust semiglobal consensus or robust semiglobal swarm can be approached for undirected connected multiagent systems. Then, specific guidelines on the selection of the low-gain parameter, the high-gain parameter, and the high-gain observer gain have been provided. At last, numerical simulations are presented to illustrate the theoretical results.