$\mathcal{H}_{\infty}$ Output Consensus Control of Heterogeneous Multi-Agent Systems with Input Saturation under Directed Topology

In this paper, we study the
$\mathcal{H}_{\infty}$
output consensus control problem of heterogeneous multi-agent systems (MASs) with constrained inputs and unknown bounded external disturbances under fixed directed graph. First, a distributed dynamic output feedback controller is designed to guarantee a level of
$L_{2}$
performance without input saturation. Next, anti-windup compensation is applied to each follower to ensure regional
$L_{2}$
performance when saturation is encountered. Optimization algorithms with convex constraints are developed for the control gains and anti-windup gain design. Finally, the effectiveness of the design is illustrated through two numerical examples.