A unified approach to the velocity-free consensus algorithms design for double integrator dynamics with input saturations

This paper considers the consensus problem of double integrator multi-agent systems where each agent is subject to input saturations, and the velocity (second state) of each agent is not available for feedback. We present a unified approach to the consensus algorithms design that extends most of the existent consensus algorithms developed for double integrator multi-agents in ideal situations to handel these two problems simultaneously. To illustrate the effectiveness of the proposed approach, we present solutions to three different second order consensus problems and provide simulation results.