Semi-global cooperation of discrete-time multi-agent systems with saturated input and aperiodic intermittent control

In order to improve the process of accurate discretization for continuous physical system in real-world scene and reduce more communication burden between agents, this paper investigates the semi-global containment problem of discrete-time linear multi-agent systems with aperiodic intermittent communication. The saturated control protocol is proposed by using low-gain approach and discrete-time algebra Riccati equation. By the convergence analysis, some sufficient conditions are obtained, for that all the followers beginning from a bounded initial set can asymptotically enter into the convex hull spanned by the leaders. Intermittent semi-global leader-following consensus and containment control result are given. Finally, two numerical simulations are presented to reflect the validation of our research findings.