It is known that a linear time-invariant system subject to \input saturation" can be globally asymptotically stabilized if it has no eigenvalues with positive real parts. It is also shown by Fuller 4] and Sussmann and Yang 12] that in general one must use nonlinear control laws and only some special cases can be handled by linear control laws. In this paper… (More)
The purpose of this paper is to examine the problem of controlling a linear time-invariant system subject to input saturation in order to have its output track (or reject) a family of reference (or disturbance) signals produced by some external generator. It is shown that a semi-global framework for this problem is a natural one. Within this framework, a… (More)
SUMMARY In this paper, we study control of a chain of integrators under actuator saturation and non-additive disturbances. We shall show that boundedness of the states can be ensured if the disturbances are matched and integral-bounded; misaligned and magnitude-bounded; or a combination of the two, using either a static or a dynamic low-gain state feedback.… (More)
—We study decentralized controller design for stabilization and pole-placement, in a network of autonomous agents with double-in-tegrator internal dynamics and arbitrary observation topology. We show that a simple multi-lead-compensator architecture, in particular one in which each agent uses a derivative-approximation compensator with three memory… (More)
This paper deals with the design of linear systems with saturating actuators where the actuator limitations have to be incorporated a priori into control design. We take a semi-global approach to solve some of the central control problems for such systems. These problems include: stabilization, input-additive disturbance rejection and robust stabilization… (More)
In this paper, we show that a linear discrete-time system subject to input saturation is semi-globally exponentially stabilizable via linear state and/or output feedback laws as long as the system in the absence of input saturation is stabilizable and detectable, and has all its poles located inside or on the unit circle. Furthermore, the semi-globally… (More)
We use a high-gain methodology to construct linear decentralized controllers for consensus, in networks with identical but general multi-input multi-output (MIMO) linear time-invariant (LTI) agents and quite-general observation topology, including numerous time-invariant and time-varying ones.
In this paper we consider the output synchronization problem for heterogeneous networks of linear agents. The network's communication infrastructure provides each agent with a linear combination of its own output relative to that of neighboring agents, and it allows the agents to exchange information about their own internal observer estimates. We design… (More)