Semi-Global Output Containment Control for a Group of Heterogeneous Discrete-time Linear Systems with Input Saturation
Liangren Shi, Yuanlong Li, Zongli Lin · 2019
In this paper, we study the problem of semi-global output containment control for a group of heterogeneous linear systems with input saturation and multiple identical leader agents. The follower agent dynamics may be different from those of the leader agents and are affected by disturbances. The leader agent dynamics and the disturbances are described by a linear autonomous system. Each follower agent has access to the information of at least one leader agent through a path in the communication network. By using the low gain feedback technique, the output regulation design method and distributed observers, we construct containment control protocols that are shown to drive the output trajectories of all follower agents to the convex hull spanned by the leader agents. We carry out numerical simulation to demonstrate the theoretical results.