Switching Anti‐Windup Output Tracking Control of Multiagent Systems With Asymmetric Input Constraints

ABSTRACT In this article, we consider the stability and performance of anti‐windup control for the leader‐following output tracking problem of linear multiagent systems (MASs), where each follower is subject to asymmetric input constraint and external disturbance. The MAS with asymmetric constraint is described as a switched MAS with symmetrically saturated input. The anti‐windup approach is used to deal with the input saturation in the switched MAS. First, a distributed control protocol in the form of general dynamic output feedback is designed to guarantee that the unconstrained system has a high performance. Then, an agent‐dependent switching anti‐windup compensation is constructed to mitigate the saturation effect on the system performance. Finally, it is shown via a numerical example that the proposed switching anti‐windup method is less conservative compared with the existing studies.