Leader-following consensus for multi-agent systems subject to actuator saturation with switching topologies and time-varying delays

This study studies the leader-following consensus problem for a class of multi-agent systems with unknown non-linear uncertainties. It is proved that the global consensus can be achieved by distributed feedback controller subject to actuator saturation for switching topologies and time-varying delays. Sufficient conditions in terms of linear matrix inequalities are derived to ensure that all following agents could reach consensus asymptotically with a leader, which provide the allowable upper bound of communication delay. Stability analysis is mainly based on algebraic graph theory, non-linear analysis and Barbalat's lemma. Numerical simulations are given to demonstrate the effectiveness of the main results.