Observer-Based Adaptive Output Consensus for Singular Heterogeneous Multiagent Systems With Input Saturation

This article aims to solve the output consensus problem for singular heterogeneous multiagent systems (MASs) subject to input saturation and disturbances under the leader–follower communication topology. By the low-gain feedback technique and output regulation theory, a distributed observer-based low-gain consensus protocol is proposed. To guarantee output consensus without involving global information of the considered MAS, an adaptive control scheme is further constructed to address this problem, which enables it to be implemented in a fully distributed fashion. With the help of Lyapunov stability theory, graph theory, and singular system theory, sufficient conditions for ensuring output consensus are established. Finally, simulation examples are given to illustrate the effectiveness of the proposed control schemes.