Global Consensus of Multi-Agent Systems with Intermittent Directed Communication in the Presence of Actuator Saturation

This paper studies the global leader-following consensus problem for a multi-agent system with intermittent directed communication in the presence of actuator saturation. Both the follower agents and the leader agent are described by a chain of integrators of an arbitrary length. A bounded consensus algorithm is constructed for each follower agent which utilizes the information obtained from the communication network intermittently. Global leader-following consensus is achieved by the consensus algorithms when the communication topology among all agents, when active, contains a spanning tree rooted at the leader agent. Simulation results illustrate the theoretical conclusions.