Semi-global leader-following output consensus of heterogeneous systems subject to actuator position and rate saturation

Abstract We study in this paper a semi-global leader-following output consensus problem for multiple heterogeneous linear systems the presence of actuator position and rate saturation over directed topology. For each follower, via low gain feedback design technique regulation theory, both state protocol an are constructed. In case, different distributed observers designed informed followers uninformed to estimate leader follower itself. show that can be achieved by two protocols if is reachable from communication