Semi-Global Leaderless Consensus of Linear Multi-agent Systems with Actuator and Communication Constraints

Abstract

This paper studies the leaderless consensus problems of multi-agent systems with input saturation and intermittent communication over directed networks. Both the state feedback and the output feedback consensus algorithms are developed based on low gain feedback approach. The convergence of the trajectories of all agents can be achieved by these proposed algorithms, if the communication topology has a directed spanning tree, and the intermittent communication period T and time rate p are larger than their associated threshold values. Simulation examples are provided to verify the theoretical results.