Semi-global leader-following consensus of multiple linear systems with position and rate-limited actuators: The state feedback case

This paper studies the semi-global leader-following consensus problem for a group of linear systems in the presence of both actuator position and rate saturation. Each follower agent in the group is described by a general linear system subject to simultaneous actuator position and rate saturation. We construct a low gain based linear state feedback control law for each follower agent and show that semi-global leader-following consensus can be achieved by using these control laws when the communication topology among follower agents is a connected undirected graph and the leader is a neighbor of at least one follower. Simulation results illustrate the theoretical results.