Robust cooperative tracking of multiagent systems with asymmetric saturation actuator via output feedback

The robust tracking control problem of the leader-follower multiagent systems affected by asymmetric input saturation and external disturbances is addressed in this article, by following three steps. First, an radial basis function neural network (RBFNN) is developed to estimate the external disturbances and supersaturation, where the supersaturation is induced by asymmetric saturation actuator. Second, combining with the developed radial basis function neural network, a reduced-order observer-based static protocol and a reduced-order observer-based adaptive one are designed for leader-follower systems with un-directed communication topology as well as those with directed communication topology, respectively. Third, some mild premises are given to guarantee the semiglobal robust leader-follower consensus for the above mentioned two kinds of multiagent systems. Finally, the theoretical results are verified by several numerical simulations.