Leader-following output consensus and regulation of identical agents with output saturations

This paper studies the leader-following consensus and the cooperative output regulation problem for linear agents with output saturations. This paper assumes that the each agent has only access the external measurement, that is the linear combination of its own measured outputs relative to that of neighboring agents, and it allows some agents to use the outputs of the leader agent or the regulated error. We first provide a solvability of the leader-following consensus problem; and then construct the local controller using the external measurement only. Sufficient condition for the existence of such controller is derived by utilizing the bounded real lemma and the small gain theorem. We extend these results to the cooperative output regulation problem. In this case, by adding the internal model unit which asymptotically reconstructs the term Γw, we derive a sufficient condition for the existence of the local controller.