Global H∞ consensus of linear multi-agent systems with input saturation

This paper deals with the problem of global consensus of a network of agents corresponding to identical linear continuous-time systems within a fully connected network and in the presence of saturation. In particular, each agent exchanges a linear input through the network and is subject to input magnitude saturation and a disturbance signal. The mismatch among the external disturbances is supposed to be bounded in energy and then a saturated H∞ control design problem is addressed and solved. A decentralized dynamic output feedback control law is designed through linear matrix inequality (LMI) conditions that induces the global consensus, a certified local convergence rate and a certified global nonlinear H∞ performance. The results are illustrated in a simulation example.