Scaled Consensus of Disturbed Multi-agent Systems with Output Saturation

This paper studies the problem of scaled consensus with output saturation under exogenous disturbances, that is, under exogenous disturbances the state of the agent reaches an assigned proportion, rather than a common value. The main contribution of this work is to propose a new nonlinear protocol, which attenuates the exogenous disturbances by designing a disturbance observer, so that the states of all agents will be proportional to each other. In addition, with the help of integral Lyapunov function, a sufficient condition for the multi-agent system to achieve the scaled consensus with output saturation under exogenous disturbances is obtained under the directed strong connection graph. Finally, a simulation example is given to verify the validity of the results of this work.