Semi-Global Leader-Following Cluster Consensus of Heterogeneous Systems With Input Saturation

This paper investigates the semi-global leader-following cluster consensus problem for linear heterogeneous systems with input saturation. A distributed control scheme is constructed by using the low gain feedback technique under the assumptions that, each node is asymptotically null controllable and the underlying topology of each extended cluster is assumed to be directed graphs having spanning tree. Sufficient conditions for guaranteeing leader-following cluster consensus with input saturation are presented. Finally, a numerical example is presented to illustrate this result.