Global consensus of heterogeneous agents with input saturation

This paper studies the global consensus problem for heterogeneous agents with input saturations. We construct the consensus algorithm which consists of the reference generator and the regulator. Then, we first show that, under the bounded initial conditions of the reference generators, the agents achieve the consensus based on the regulation theory. Next, we propose the modified reference generator to generate the bounded common trajectory for any initial conditions of the reference generators. Then, it is shown that the proposed algorithm can solve the global consensus problem under input saturations.