Semi-global containment control for linear systems in the presence of actuator position and rate saturation

This paper studies the semi-global containment control problem for a group of general linear systems in the presence of actuator position and rate saturation. Both a state feedback containment control algorithm and an output feedback containment algorithm are constructed for each follower agent in the system by using low gain approach. We show that the states of all follower agents will converge to the convex hull formed by the leader agents asymptotically under these control algorithms when the communication topology among follower agents is a connected undirected graph and each leader agent is a neighbor of at least one follower agent. Simulation results illustrate the theoretical results.