Global Consensus of Double-Integrator Multi-Agent Systems with Input Saturation by Fully Distributed Event-Triggered and Self-Triggered Controls

This paper considers the global leader-following event-triggered consensus problem for the input-constrained double-integrator multi-agent systems. By utilizing a Lyapunov-like function consisting of a positive semidefinite term and an integral term, a novel bounded static linear event-triggered protocol is proposed to ensure that the global leader-following consensus problem is solved in a fully distributed manner for all undirected communication graphs. In order to avoid continuously monitoring the states of neighbors and continuous communication, a self-triggered protocol is also proposed. As a further result, the global consensus problem for a class of input-constrained high-order multi-agent systems is also considered and linear event-triggered protocols are proposed to solve such a problem in a fully distributed manner. A numerical example shows the effectiveness of the proposed approaches.