A distributed control strategy for connectivity preservation of multi-agent systems subject to actuator saturation

In this paper a connectivity preserving consensus protocol for single-integrator agents is presented subject to actuator saturation. In contrast to the previously proposed methods not only the control laws are shown to remain bounded, but also the actuators remain within their available actuating constraints. We have shown that by using our proposed control algorithm agents converge to the same position, while connectivity of the entire network is preserved. The effectiveness of the proposed control strategy is illustrated through numerical simulations.