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Semi-global leader-following output consensus of heterogeneous systems with position and rate-limited actuators via state feedback

Panpan Zhou  Ben M.Chen  
【摘要】:Inspired by the importance of actuator position and rate constraint, we study in this paper the semi-global leaderfollowing output consensus problem of multiple heterogeneous linear systems in the presence of actuators position and rate saturation via state feedback control. We design a distributed leader state observer, based on which a state feedback output consensus protocol is constructed for each follower. In addition, we propose a framework of formation control by combining consensus control and model predictive control to resolve the problem of obstacle and inter-agent collisions. The effectiveness of our approach is verified by simulation and actual flight experiments of UAVs.

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