Semi-global leader-following output consensus of heterogeneous systems with position and rate-limited actuators via state feedback

Inspired by the importance of actuator position and rate constraint, we study in this paper the semi-global leader-following output consensus problem of multiple heterogeneous linear systems in the presence of actuators position and rate saturation via state feedback control. We design a distributed leader state observer, based on which a state feedback output consensus protocol is constructed for each follower. In addition, we propose a framework of formation control by combining consensus control and model predictive control to resolve the problem of obstacle and inter-agent collisions. The effectiveness of our approach is verified by simulation and actual flight experiments of UAVs.