Leader-Following Consensus of a Class of Multi-Agent Systems with Saturations

This paper investigates the leader-following consensus of a class of multi-agent systems (MASs) with actuator saturations. Different from the traditional literature, the followers in our paper are governed by nonidentical dynamics. With the help of low gain feedback method and parameterized algebraic Riccati equation, we propose design algorithms of the feedback gains and coupling strength. Sufficient conditions are given to ensure the semi-global stability of the tracking error system. Numerical results are also given to verify the effectiveness of our theoretical method.