Group Consensus of Nonlinear Discrete Multi-Agent Systems with Input Saturation

In this paper, the group consensus of a general nonlinear discrete-time multi-agent systems with saturated inputs is studied. Based on the undirected graph, a low-gain feedback control protocol for leaderless system is first designed according to the discrete algebraic Riccati equation, and the stability of leaderless system with saturated input is proved by the constructed Lyapunov function. Secondly, according to the discrete algebraic Riccati equation, a control protocol with low gain feedback is designed for the leader-following system, and the stability of the leader-following system with saturated input is proved by the constructed Lyapunov function. Finally, simulations are used to verify the rationality of the designed control protocol.