Semiglobal interval observer-based robust coordination control of multi-agent systems with input saturation

This paper investigates the problem of robust coordination control based on interval observers for multi-agent systems in the presence of input saturation and disturbances. Firstly, in the scenario where the system state is not directly measurable, two types of interval observers are, respectively, constructed by resorting to the upper and lower bounds on external perturbances as well as the output information. Secondly, a parametric Lyapunov equation-based low-gain feedback control method is proposed to guarantee semiglobal bounded consensus. In contrast to the conventional approach based on parametric algebraic Riccati equations, the proposed method offers the advantage of allowing the parameters to be determined in advance. Finally, a simulation example and a practical electrical circuit model are conducted to verify the theoretical results.