Semi-Global Robust Consensus of Discrete-Time MASs Subject to Input Saturation and Additive Perturbations

The robust consensus problem (RCP) of general linear discrete-time multi-agent systems (DMASs) suffering both heterogeneous additive stable perturbations and input saturation is discussed in this paper via dynamic output feedback combining with low gain feedback technique. By using the modified algebraic Riccati equation (MARE) and unified $H_\infty$ controller design method, an effective output feedback control protocol without controller exchange is constructed for MASs with directed communication topology. It is proved that semi-global robust consensus (SRC) can be achieved if each agent is asymptotically null controllable with bounded controls (ANCBC). Finally, the simulated studies demonstrate the effectiveness of the proposed approaches.