A Novel Distributed Controller Design for Robust Global Coordination of MASs with Heterogeneous Saturation

Dear Editor, This letter addresses the challenge of achieving robust global coordination in multi-agent systems (MASs) subject to heterogeneous actuator saturation and additive input disturbances. We develop a novel distributed control framework that strategically integrates a redesigned saturation function to handle the nonlinear actuator constraint and a high-gain feedback mechanism for effective disturbance rejection. With this novel method, by carefully selecting both constant and time-varying saturation parameters in the redesigned saturation function and the high-gain parameter, global coordination can be achieved decoupled with the initial state of each agent and the communication topology of the MAS. Numerical examples demonstrate the effectiveness of the theoretical results.