Consensus Tracking of Second-order Multi-agent Systems With Input Saturation Under Sampled-data Communication

In this paper, the global consensus tracking problem is studied for a class of second-order multi-agent systems subject to input saturation and sampled-data communication. An observer-based distributed control strategy is proposed to achieve consensus tracking using only local state information and sampled-data communication. The distributed controller is globally bounded due to the utilization of saturation functions which is favorable in practical applications. Sufficient conditions on the sampling period, controller design parameters and the communication topology are derived to guarantee asymptotic consensus tracking. Simulation examples are provided to illustrate the effectiveness of the proposed controller.