Global consensus of single-integrator agents subject to saturation constraints

This paper investigates the problem of leader-following consensus of single-integrator agents subject to saturation constraints. Global leader-following consensus protocol is developed with proper choice of the relative coupling gain. Both the case of input saturation and the case of actuator saturation are considered. It is shown that global consensus of the multiagent system can be reached under the general undirected graph provided that its augmented graph contains a directed spanning tree. Numerical examples are provided to demonstrate the theoretical results.