Semi-Global Output Consensus of Multi-Agent Systems Subject to Actuator Saturation: A Low and High Gain Approach

Abstract

This paper studies semi-global output consensus problem for multi-agent systems. The dynamics of each follower agent is described by a linear system subject to both actuator saturation and external disturbances. The dynamics of leader agent is also described by a linear system which generate both the tracking signal and disturbance as the exosystem does in output regulation problem for individual system. Solvability conditions are established based on the agent dynamics and the communication topology. For the follower agents, low-and-high gain based linear state feedback control laws are constructed such that all the outputs of agents achieve output consensus when the communication topology among the follower agents is a connected undirected graph, and the leader is a neighbor of at least one follower. Simulation results are given to illustrate the theoretical results.