Semi-global leader-following output consensus of discrete-time heterogeneous linear systems with position and rate-limited actuators via state feedback

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Inspired by the importance of actuator position and rate limitation, we investigate the state feedback-based semi-global leader-following output consensus problem of discrete-time heterogeneous linear systems that are subject to position and rate-limited actuators. Based on a distributed leader state observer, an output consensus protocol is constructed for each follower. It is proved that the output consensus is achieved by the low gain feedback design technique and output regulation theory if each follower is reachable from the leader. We carry out simulations to show the effectiveness of the theoretical results.