Distributed Tracking Control for Linear Multiagent Systems With a Leader of Bounded Unknown Input

This technical note considers the distributed tracking control problem of multiagent systems with general linear dynamics and a leader whose control input is nonzero and not available to any follower. Based on the relative states of neighboring agents, two distributed discontinuous controllers with, respectively, static and adaptive coupling gains, are designed for each follower to ensure that the states of the followers converge to the state of the leader, if the interaction graph among the followers is undirected, the leader has directed paths to all followers, and the leader's control input is bounded. A sufficient condition for the existence of the distributed controllers is that each agent is stabilizable. Simulation examples are given to illustrate the theoretical results.