The semi-global output consensus problem for multiagent systems depicted by discrete-time dynamics subject to external disturbances and input saturation over switching networks is investigated in this paper. Assume that only a small part of subsystems have directly received the output of the exosystem. The distributed consensus algorithms are proposed by adopting the low-gain state feedback and the modified algebraic Riccati equation. Then, the outputs of all subsystems can reach synchronization asymptotically with those of the exosystem by using the proposed consensus protocols on some preconditions. Both the connected switching networks and the jointly connected switching networks are considered for the semi-global output consensus problem, respectively. Some numerical simulation results are shown to validate the theoretical analysis.

中文翻译：

---

输入饱和和外部干扰的离散时间交换网络系统的半全局输出共识

本文研究了多智能体系统的半全局输出共识问题，该问题由离散时间动力学描述，受外部干扰和交换网络输入饱和的影响。假设只有一小部分子系统直接接收了外系系统的输出。通过采用低增益状态反馈和改进的代数Riccati方程，提出了分布式共识算法。然后，通过在某些前提下使用所提出的共识协议，所有子系统的输出都可以与外部系统的输出渐近同步。对于半全局输出共识问题，分别考虑了连接的交换网络和联合连接的交换网络。数值模拟结果表明了理论分析的正确性。