Abstract
In this paper, the problem of network-based leader-following consensus is addressed for linear multi-agent systems with input saturation. First, a network-based consensus protocol with input saturation constraints is introduced to accommodate some network-induced effects such as delay, data quantization and time-varying sampling interval. Next, the Lyapunov-Krasovskii method is utilized to show the exponential convergence of the leader-following error system to a bounded set region under a delay-dependent stability condition, together with estimation of the region of initial conditions. Then with leveraging this stability condition, the gain matrix of the network-based consensus controller is designed for linear multi-agent systems.
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