Consensus of One-Sided Lipschitz Multi-Agent Systems with Input Saturation and Disturbance over Directed Graph

This paper investigates the consensus of one-sided Lipschitz (OSL) multi-agent systems (MASs) in the presence of input saturation and external disturbance over directed communication topology. A saturation avoidance strategy is suggested to handle the input saturation. This enables us to deal with both open-loop stable and open-loop unstable systems. By employing the Lyapunov theory, the consensus problem is changed into the stabilization one through the error equation. We design a control protocol and convert the problems of disturbance rejection and domain of attraction into the optimization of two invariant sets. Finally, some numerical simulations are given to verify the effectiveness of the proposed consensus protocol.