Regional H∞ Synchronization of Identical Linear Multiagent Systems under Input Saturation

This paper addresses the local synchronization problem of identical linear multiagent systems subject to input saturation constraints and exogenous disturbances with a guaranteed region of attraction. A dynamic output feedback controller is proposed, while the information exchanged through the network is the relative input mismatch of each agent with respect to the neighbors. Using a suitable incremental sector condition, we cast the synchronization of multiagent systems with a general undirected topology in terms of bilinear matrix inequalities. Based on a multistep convex controller design procedure, the effectiveness of the theoretical results is demonstrated through numerical simulations of a fleet of quadrotors.