Leader–Follower Consensus of Linear Multiagent Systems With Magnitude and Rate Saturation and an Active Leader

This article investigates the regional stability and performance of antiwindup compensation for the leader–follower consensus problem of linear multiagent systems, where the leader is subject to nonzero control input and external disturbance, and each follower is subject to magnitude and rate bounded input, as well as external disturbance. First, a distributed dynamic output feedback is proposed for the unconstrained case, which establishes an invariant set, based on the peak-to-peak approach. Next, a static antiwindup compensator is applied to ensure regional stability and performance when magnitude and rate saturation are encountered.