Semiglobal consensus of heterogeneous multiagent systems with input saturations

Abstract

AssumptionLemmaProblemProofRemarkTheorem This paper studies the semiglobal leaderless state consensus problem for heterogeneous multiagent systems with input saturations. Utilizing the low gain approach, we propose the consensus algorithms that consist of reference generator and regulator. We construct the reference generators using both the relative states of reference generators and agents. Moreover, we apply the anti-windup technique to generate bounded common trajectory of reference generators such that the regulators under input saturations can track the reference trajectory. Then, we prove the existence of consensus algorithms to achieve the semiglobal consensus. Finally, numerical examples are presented to demonstrate the theoretical results.