Semi‐global leader‐following consensus of discrete‐time linear multi‐agent systems subject to actuator position and rate saturation
Hongtao Zhou, Yu-Cheng Yang, Housheng Su, Wei Zeng · International Journal of Robust and Nonlinear Control · 2016
Summary This paper deals with the leader‐following consensus of discrete‐time multi‐agent systems subject to both position and rate saturation. Each agent is described by a discrete‐time general linear dynamic with actuator subject to position and rate saturation. A modified algebraic Riccati equation and low‐gain feedback design technique are used to construct both state feedback and output feedback control protocols. It is established that a semi‐global leader‐following consensus can be achieved when the system is asymptotically null controllable with bounded controls and a leader agent has a directed path to every follower agent. Finally, several simulations are carried out to illustrate the results. Copyright © 2016 John Wiley & Sons, Ltd.