Consensus Tracking of Second-order Multi-agent Systems With Input Saturation Under General Directed Communication Graph

In this paper, we study the global consensus tracking problem for second-order multi-agent systems with input saturation under general directed communication graphs. New types of globally bounded nonlinear distributed controllers are proposed which use only relative state or output measurements. Sufficient conditions on the control parameters to achieve global consensus are derived by constructing novel Lyapunov functions. Singular perturbation method is utilized for the convergence analysis of the case with only relative output measurements. Simulation results support the theoretical findings.