A dynamic protocol for local synchronization of linear multi-agent systems subject to input saturation

This paper is concerned with synthesis of a relative output feedback dynamic protocol that locally synchronizes linear agents subject to input saturation over a fixed undirected communication graph. We first derive a sufficient LMI condition for locally achieving the synchronization via a given relative output feedback protocol. Based on this analysis result, we present a sufficient condition for designing a dynamic synchronizing protocol in terms of bilinear matrix inequalities.