Leader-Following Consensus of Multi-Agent Systems with Actuator Saturation and Communication Delay

This article aims to the global consensus problem of high-order multi-agent systems with actuator saturation and communication delay. Among them, all agents are described by discrete-time systems. Firstly, in order to compensate for the communication delay, a networked predictive control method is adopted and a predictive-based control protocol is designed. Secondly, for the neutrally stable agent model, leader-following situation is considered, and it is proved that, under a fixed communication topology, adopting the prediction-based control protocol can make the multi-agent systems realize global consensus under actuator saturation and communication delay. Finally, the results are illustrated a numerical simulation.