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

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Original languageEnglish
Pages (from-to)1566-1582
Journal / PublicationInternational Journal of Robust and Nonlinear Control
Issue number5
Online published16 Oct 2017
Publication statusPublished - 25 Mar 2018


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.

Research Area(s)

  • coupled harmonic oscillators, disturbance, high-gain observer, low-and-high gain feedback, swarm tracking

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