Semi-global consensus with position limited and rate disturbances via low gain feedback and integral sliding mode control

In this study, the authors investigate the semi-global leader-following consensus problem of multi-agent systems in the presence of both position saturation and bounded rate disturbances. Each follower agent is described by a general linear dynamic with actuator position saturation and rate disturbances. Based on low-gain feedback design technique and integral sliding mode, discontinuous and continuous control protocols are developed. It is established that semi-global leader-following consensus can be achieved under the assumptions that the system is asymptotically null controllable with bounded controls and the leader agent has a directed path to every follower agent. Simulations are presented to illustrate the results.

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