Observer-based robust coordinated tracking of multi-agent systems with input saturation

This paper addresses the robust semi-global coordinated tracking problem of multiple-input multiple-output (MIMO) multi-agent systems with input saturation and communication noise. A distributed observer-based coordinated tracking protocol is constructed by combining a novel parameterized low-and-high feedback technique with the high-gain observers design approach. It is shown that, under the assumptions that each agent is asymptotically null-controllable with bounded controls and the network is connected, semi-global consensus tracking or semi-global swarm tracking can be attained for left-invertible and minimal-phase systems.