Robust global consensus tracking of linear multi-agent systems with input saturation via scheduled low-and-high gain feedback

This study deals with the protocol design for achieving robust global consensus tracking of multi-agent systems. Agent dynamics are described as general linear systems with actuator saturation and input additive uncertainties and disturbances. Via developing a scheduled low-and-high gain design technique, the state feedback protocol is proposed, under which global consensus tracking and disturbance rejection for such systems can be achieved under the mild assumptions on agent dynamics and network topology. This result is further extended to the case of the reduced-order observer-based protocol design, with the help of the special coordinate basis approach. Finally, the advantages of the proposed protocols are illustrated by a numerical simulation.