Discrete-Time Leader-Following Multiagent Systems: Saturation Constraints and Event-Triggered Control

In this article, we consider the performance of homogeneous agents tracking a leader under constraints. First, the synthesis conditions for unconstrained discrete-time dynamic output feedback are presented. To handle magnitude and rate constraints on actuation, we implement an antiwindup augmentation. In addition, to address the communication burden among agents, we incorporate an event-triggered mechanism into control synthesis. The dimension of the synthesis conditions is commensurate with that of a single agent and does not increase as the number of agents increases.