Semi-global output consensus of discrete-time multi-agent systems with input saturation and external disturbances

This paper investigates the problem of leader-following output consensus of a linear discrete-time multi-agent system with input saturation and external disturbances. Low-gain state feedback technique and output regulation theory are used to deal with the output consensus of multi-agent systems with input saturation and external disturbances. Both the cases with identical and non-identical disturbances are discussed in the multi-agent systems. For the case of identical external disturbance, the output consensus can be attained when the directed graph has no loop and there exists at least one directed path from the leader to every follower agent. For the case of non-identical external disturbances, the output consensus can be achieved if the directed graph is strongly connected and detailed balanced, and at least one follower can have access to the information of the leader. Numerical simulation results are presented to demonstrate the validation of the proposed design.