Robust semiglobal swarm tracking of coupled harmonic oscillators with input saturation and external disturbance

The robust semiglobal swarm tracking problem of N coupled harmonic oscillators and 1 actual leader with input saturation and external disturbance on a directed communication topology is considered, in which the N coupled harmonic oscillators are referred to followers. First, the low-and-high gain feedback technique is introduced to construct a relative state-dependent control algorithm. Then, an observer-based control algorithm is designed based on the low-and-high gain feedback technique and the high-gain observer design methodology. Sufficient conditions are derived to guarantee robust semiglobal swarm tracking for state-feedback control and output-feedback control, respectively. Numerical simulations are finally provided to verify the theoretic results.