Consensus for constrained multi-agent systems with input saturation

The consensus problem for multi-agent systems with input saturation is addressed in this paper. For agents with double-integrator dynamics, we first propose two consensus algorithms, respectively, for the cases with and without velocity measurements. Based on graph theory, homogeneous method and the Lyapunov stability theory, it is proved that the proposed algorithms can guarantee not only the state agreement in finite time for all the agents but also the input saturation requirement. Then, the obtained results and techniques are extended to the finite-time consensus problem for multiple mechanical systems. Numerical simulations are finally provided to verify the effectiveness of the theoretical results.