Leader-follower Consensus of Linear Multi-Agent Systems with Input Saturation

In this paper, we study the leader-follower problem of linear multi-agent systems (MASs) with constrained inputs. A distributed output feedback controller is designed to establish an attractive invariant set, within which we can ensure a desirable peak bound on the tracking error. Next, a static antiwindup (AW) loop is applied to each follower's compensator to ensure stability and performance in the presence of actuator saturation. Finally, the effectiveness of the proposed method is illustrated through two examples.