Robust Global Coordination of Networked Systems With Input Saturation and External Disturbances

This article refocuses on the global coordination of networked systems with input saturation and external disturbances. With the help of a novel backstepping approach, a multihop relay control algorithm subject to a group of modified heterogenous saturation functions is constructed, in which the number of the hop is equal to the order of the networked system. It is proved that these modified heterogenous saturation functions can develop a global unsaturated control algorithm for each agent. Then, some sufficient and necessary conditions are provided for the global consensus of the connected networked systems with input saturation in the absence of external disturbances. In the presence of the input saturation and external disturbances, a sufficient condition irrelevant to the interactive network topology information is proposed for the global swarm of connected networked systems. Finally, numerical simulations are provided to verify the theoretical results.