Bipartite Tracking of Linear Multi-Agent Systems Under Actuator Saturation With Relative Output Feedback

Abstract

In this brief, bipartite tracking problem is addressed for linear multi-agent systems (MAS) subjected to actuator saturation over a signed directed graph (digraph) where both cooperation and competition exist between the agents. To that end, an observer-based relative output feedback low-gain control law parameterized in a small positive scalar is constructed by designing suitable scalar coupling gain and feedback gain matrices. For an arbitrarily bounded set, the designed control law realizes the bipartite tracking problem for the MAS whose underlying graph contains a directed spanning tree rooted at the leader. Numerical simulation validates the efficacy of the proposed methods.