Consensus of Multi-Agent Systems With Heterogeneous Input Saturation Levels

In this brief, a consensus problem is investigated for a class of multi-agent systems with input saturation, in which the common assumption in existing related literature that each agent has the same input saturation level is removed. Furthermore, the communication graphs are general directed graphs. New kinds of fully distributed control protocols, depending on only the relative state information, are successfully designed to achieve global state consensus among the agents. Specifically, neither the saturation levels of the neighboring agents nor the information about the global communication topology is involved in the controller design. Both leaderless consensus and leader-following consensus with a dynamic leader are studied. Simulation examples are finally provided to illustrate the theoretical results.