Switching Anti-Windup Output Tracking Control of Multiagent Systems With Asymmetric Input Constraints

Abstract

In this article, we consider the stability and performance of anti-windup control for the leader-following output tracking problem of linear multiagent systems (MASs), where each follower is subject to asymmetric input constraint and external disturbance. The MAS with asymmetric constraint is described as a switched MAS with symmetrically saturated input. The anti-windup approach is used to deal with the input saturation in the switched MAS. First, a distributed control protocol in the form of general dynamic output feedback is designed to guarantee that the unconstrained system has a high $L_2$ performance. Then, an agent-dependent switching anti-windup compensation is constructed to mitigate the saturation effect on the system performance. Finally, it is shown via a numerical example that the proposed switching anti-windup method is less conservative compared with the existing studies.