H∞ Output Anti-Windup Consensus for Constrained Nonlinear Heterogenous Multiagent Systems Based on Reduced Order Interval Observer

The $H_{\infty }$ output anti-windup(AW) consensus problem based on the reduced-order interval observers(ROIOs) for the nonlinear heterogeneous multi-agent systems (HMAS) with actuator constraints is studied in this brief. Firstly, the reduced order interval observers are derived to estimate the bounds of state for each agent with nonlinear dynamics. Then, a distributed output-feedback protocol is proposed to achieve the $H_{\infty }$ output anti-windup consensus in the presence of disturbance and unknown nonlinear function, which is associated with the interval observers, the anti-windup compensator and the leader-state estimation. The anti-windup compensator is designed for each agent by an extra internal state to alleviate degradation encountered with actuator saturation. Finally, the simulation results validate that the presented control scheme can address system stability despite existing uncertainties and actuator saturation.