Robust Coordinated Tracking of Saturated Multi-agent Systems: A Dynamic Input Saturation Reconstruction Approach

This paper explores the dynamic saturation reconstruction approach to deal with the robust coordinated tracking of saturated multi-agent systems. The first-order differential equation of the dynamic saturation function is constructed and given in quadratic form with the unrestricted control input affected by bounded input disturbance. It is shown that the dynamic saturation reconstruction function and the adaptive control input that restrict and influence each other can achieve consensus tracking, and resolve the contradiction between high performance and saturation limits. Finally, simulation results show that the actual engineering situation can be perfect by adjusting the coefficients of dynamic saturation function.