Consensus of Multi-agent Systems with Relative State Saturations

In a classical consensus problem, the relative sates between neighbors play an important role in designing distributed protocols. In practice, these relative states are measured by some on-board sensors, and then the relative state saturations inevitably occur because of the limited sensing capabilities. This paper considers the consensus problem of nonlinear multi-agent systems subject to the relative state saturations. Utilizing the incidence matrix and the edge Laplacian, the consensus of nonlinear multi-agent systems with the relative state saturations can be cast into the stabilization of edge dynamics confined into the constrained set. The state feedback protocol is proposed here for achieving the constrained consensus. A simulation example validates the effectiveness of our results.