Semi‐global consensus with position limited and rate disturbances via low gain feedback and integral sliding mode control

In this study, the authors investigate the semi‐global leader‐following consensus problem of multi‐agent systems in the presence of both position saturation and bounded rate disturbances. Each follower agent is described by a general linear dynamic with actuator position saturation and rate disturbances. Based on low‐gain feedback design technique and integral sliding mode, discontinuous and continuous control protocols are developed. It is established that semi‐global leader‐following consensus can be achieved under the assumptions that the system is asymptotically null controllable with bounded controls and the leader agent has a directed path to every follower agent. Simulations are presented to illustrate the results.