Abstract
This paper investigates the leader-follower exponential consensus problem of a class of Lipschitz nonlinear multi-agent systems (MASs) with input saturation. Since each agent has nonlinear dynamics, the system is not asymptotically null controllable with bounded controls. Therefore, the widely-used low-gain feedback method for designing consensus protocols of MASs with input saturation can no longer work. Taking advantage of the stability theory of impulsive systems and features of the Laplacian matrix, and combining the properties of convex hull, a distributed impulsive consensus protocol is proposed. Still, the shape reference set is introduced to assess the attraction domain of leader–follower MASs. Finally, a numerical experiment validates the effectiveness of the proposed anti-saturation impulsive consensus algorithm.
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