LMI-based Leader-follower Consensus Control of Multi-agent Servo Systems with Saturation Nonlinearities

In this paper, we propose a leader-follower consensus control method using state feedback gains and servo compensators for continuous time multi-agent systems with saturation nonlinearities. The consensus control method is that the leader follows reference inputs and the followers follow states of the leader without using the reference inputs. We point out that the proposed method based on the generalized sector approach can be recast as a convex optimization problem subject to linear matrix inequalities (LMIs) in order to increase the convergence speed of the consensus corresponding to an integral quadratic performance level. We clarify that our proposed LMI-based synthesis for the multi-agent servo systems is definitely helpful through numerical experiments.