Impulsive consensus of nonlinear multi-agent systems with input and state saturation constraints

This work focus on the study of consensus problems of nonlinear second-order multi-agent system (MAS). By fully taking performance difference constrained by the locations of communication channel into account, and in view that impulsive control scheme can reduce control costs in some degree, input-saturation and state -saturation are integrated into the design of impulsive consensus control protocol, respectively. By doing that, some sufficient conditions that guarantee the consensus of nonlinear MAS are derived by using Lyapunov stability theory. Finally, by giving two examples, some simulation examples are presented to verify the theoretical results.