Discrete Gain Scheduling Output Feedback Control of Input-Saturated Linear Multi-agent Systems

This paper considers the state observer-based discrete gain scheduling output feedback control problem for linear multi-agent systems with input saturation. The distributed discrete gain scheduling output feedback control method is proposed to studey bipartite consensus of input saturated linear multi-agent system with the directed network topology. It can be proved that the linear multi-agent system can achieve the bipartite consensus under the observer-based discrete gain scheduling feedback control protocol, which is obtained through solving the parameter Lyapunov equation. With the increases of discrete switching parameters, the observer-based discrete gain scheduling feedback control protocol can effectively improve the dynamic performance of multi-agent systems with input saturation. Finally, a numerical simulation is provided to show the validity of the theoretical results.