This article considers the robust consensus problem of the general linear multiagent system (MAS) subject to both heterogeneous additive stable disturbances and input saturation. Distributed low gain feedback-based dynamic output feedback control protocols are proposed, which do not need the controller interaction. Algebraic Riccati equation and unified H∞H_{\infty } controller design method are employed to design the output feedback control protocols. It is established that under the assumption that each agent is asymptotically null controllable with bounded controls, semiglobal robust consensus can always be reached under the proposed controller. Furthermore, the design method specialized for leader-following consensus is addressed, under the assumption that the Laplacian matrix is diagonalizable, one can design the control protocol only with the number of follower agents. Finally, several simulations are provided to show the effectiveness of our results.

中文翻译：

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受输入饱和和加性扰动影响的一般线性 MAS 的半全局鲁棒共识


本文考虑了受异质加性稳定扰动和输入饱和影响的一般线性多智能体系统（MAS）的鲁棒共识问题。提出了基于分布式低增益反馈的动态输出反馈控制协议，该协议不需要控制器交互。采用代数Riccati方程和统一的H∞H_{\infty }控制器设计方法来设计输出反馈控制协议。可以确定的是，在每个智能体在有界控制下渐近零可控的假设下，在所提出的控制器下始终可以达成半全局鲁棒共识。此外，还提出了专门针对领导者跟随共识的设计方法，在拉普拉斯矩阵可对角化的假设下，可以仅用跟随者代理的数量来设计控制协议。最后，提供了一些模拟来显示我们结果的有效性。