Event-Based Consensus Control of Multi-Agent Systems with Input Saturation Constraint

The event-based leader-following consensus problem for multi-agent systems with input saturation is studied in this paper. The control input update is event-driven, and the triggering function is linear, under the given trigger function and Rigger condition. At first, a sufficient condition of the leader-following consensus for multi-agent systems without input saturation is presented, Furthermore, under the constraint of input saturation and communication time delay, the leader-following consensus control is achieved through designing control protocol and choosing suitable parameters of control input. Lyapunov function in combination with S-procedure method is adopted to prove the consensus stability for multi-agent systems with input saturation and communication time delay. Moreover, the Zeno-behavior is excluded for the triggering time sequence. Finally, simulations are present to illustrate the effectiveness of the proposed consensus control protocols,