Global leader-following consensus of discrete-time linear multiagent systems subject to actuator saturation

This paper investigates the problem of global leader-following consensus of a discrete-time linear multiagent system subject to actuator saturation. Global leader-following consensus algorithm is developed with proper choice of relative coupling gains. Under the assumption that each agent is marginally stable, it is shown that global consensus of the discrete-time multiagent system can be reached under the general undirected graph provided that its generated graph contains a directed spanning tree. Numerical examples are provided to demonstrate the theoretical results.