Semiglobal Leader-Following Output Consensus of Discrete-Time Heterogeneous Linear Systems Subject to Actuator Position and Rate Saturation

Motivated by the fact that physical systems are usually subject to actuator position and rate saturation, we consider in this article the semiglobal leader-following output consensus problem of a group of discrete-time heterogeneous linear systems with position and rate-limited actuators by output feedback control law. Distributed observers are designed for followers to estimate the state of the leader and the follower itself, based on which a novel distributed control law is proposed. We show that, via the low gain feedback design technique and output regulation theory, the semiglobal leader-following output consensus of discrete-time heterogeneous linear systems can be achieved by the consensus protocol if each follower is reachable from the leader in a directed communication topology.