Consensus of One-Sided Lipschitz Multi-Agents Under Input Saturation

This brief investigates a new consensus control methodology for nonlinear one-sided Lipschitz (OSL) multi-agents by considering the input saturation nonlinearity for each agent. Local design approaches are followed for dealing with the constrained consensus control of nonlinear agents by using the OSL dynamics, saturation nonlinearity, and quadratic inner-boundedness property. A region of initial conditions based on the consensus error is revealed, for which the proposed control approach guarantees the consensus error's convergence to the origin. A new design condition for computation of the consensus protocol gain is developed for the leader-following consensus. Then, simulation results on synchronization of mobile OSL are provided by considering input saturation.