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

Housheng Su, Yucheng Yang, Zhiwei Gao*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)
20 Downloads (Pure)


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

Original languageEnglish
Pages (from-to)7997-8004
Number of pages8
JournalIEEE Transactions on Automatic Control
Issue number12
Early online date28 Mar 2023
Publication statusPublished - 1 Dec 2023

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