Leader–Follower Tracking for General Multiagent Systems With Unknown Leader Input and Limited Actuation
Maryam Sadeghi Reineh, Pengyuan Li, Faryar Jabbari · IEEE Transactions on Control of Network Systems · 2022
In this work, we study the leader–follower tracking problem for multiagent networks composed of identical agents with general linear dynamics and an active leader with nonzero and unknown input. The leader’s input is treated as an exogenous input to the followers. A distributed controller is proposed where the dimension of the problem does not scale with the number of agents and an upper bound on the gain from the unknown input of the leader to tracking errors is minimized. Knowledge of a lower and an upper bound for the eigenvalues of the Laplacian matrix associated with the followers’ subgraph is used to render the problem convex. An antiwindup compensation scheme is then introduced in order to protect the stability of the network and improve the performance in the presence of actuator limitations. The effectiveness of results is illustrated via numerical simulations.