Consensus of disturbed multi-agent systems with heterogeneous output saturation

This paper studies the consensus of disturbed multi-agent systems with heterogeneous output saturation. The main contribution of this work is that the disturbance observers are designed to be used for attenuating disturbances. And, a nonlinear control protocol is proposed, under which the states of all agents will achieve consensus asymptotically. In addition, under the directed graph with strongly connected, a sufficient condition for achieving consensus of multi-agent systems with heterogenous output saturation is obtained. Finally, a simulation example is given to show the validity of the theoretical results.