Robust semi-global leader-following consensus of linear multi-agent systems with imperfect actuators

This paper deals with the robust semi-global leader-following consensus problem for a linear multi-agent system with imperfect actuators. The actuators of the follower agents have imperfect input output characteristics, such as those of saturation and dead-zone, and those characteristics are not precisely known. The agents are also subject to input additive disturbances. A low-and-high gain based linear state feedback control law is constructed for each follower agent. It is shown that these control laws achieve robust semi-global leader-following consensus when the graph representing the communication topology among the followers is undirected and connected and the leader is a neighbor of at least one follower. Numerical simulation illustrates the theoretical results.