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This article proposes a multiple saturation levels framework to investigate the semiglobal tracking cooperative control problem of multiagent systems with switching communication topologies. This problem is solving by proposing a switching parametric Lyapunov approach and constructing a three-layer nodes model with mirroring nodes to reduce the complexity of controller design in which control inputs for different layers of nodes are with different saturation levels. A metamorphic low-gain feedback consensus protocol is developed, based only on the interaction information of different nodes, to ensure that the states of the followers approach that of the leader, if the dwell time can be reasonably selected and the switching derived topologies have a directed spanning tree. Moreover, the protocol is extended to the derived topology that frequently contains a directed spanning tree. Simulations are presented to verify the effectiveness of the new design techniques.
Wang et al. (Fri,) studied this question.