Leader-Following Consensus Control of Nonlinear Multi-Agent Systems with Input Constraint

This paper investigates the consensus control problem of leader-following nonlinear multi-agent systems with input constraint and directed communication topology. First, a general control protocol is given to solve the consensus of the multi-agent systems without input constraint. Then, the case of input constraint is considered, a fuzzy system is applied in constrained control protocol design. Also, the assumption that the Lipschitz condition for nonlinear item should be satisfied in many papers is not considered in this work. The convergence of the proposed control protocols is analyzed using the sliding mode control approach, Lyapunov stability theory and graph theory. Finally, two examples are provided to illustrate the effectiveness of the theoretical analysis.