Coordinated tracking of linear multiagent systems with input saturation and stochastic disturbances

This paper addresses the coordinated tracking problem for linear multiagent systems with input saturation and stochastic disturbances. The objective is to construct a class of tracking control laws that achieve consensus tracking in the absence of disturbances, while guaranteeing a bounded variance of the state difference between the follower agent and the leader in the present of disturbances, under the assumptions that each agent is asymptotically null controllable with bounded controls (ANCBC) and the network is connected. By using the low gain feedback technique, a class of tracking control algorithms are proposed, and the coordinated tracking problem is solved through some routine manipulations. Finally, numerical examples are provided to demonstrate the theoretical results.