Extended State Observer Based Consensus Control of Linear Multi-Agent Systems with Input Saturation and Unknown Disturbance

In this paper, the leader-follower consensus problem of linear multi-agent systems (MASs) is studied, in which each agent is subject to unknown disturbance and input saturation. A distributed extended state observer (ESO) is first designed, to estimate the state and disturbance of each follower, which guarantees the consensus error asymptotic convergence without consideration of the saturation. Then, to improve the performance with input saturation, anti-windup compensation is designed. Finally, we demonstrated the effectiveness of the proposed methods by numerical examples.