Abstract This paper aims to propose dynamic consensus protocols for a class of non-linear saturated multi-agent systems. Due to the existence of non-linear dynamics of each agent, the system does not satisfy the condition named asymptotically null controllable with bounded controls (ANCBC). As a result, the widely-adopted method of low-gain feedback to solve consensus control problems for linear multi-agent systems with input saturation cannot be used. To step back, even if the system is linear and meets the ANCBC condition, the existing low-gain method or that combined with adaptive method can only make the system eventually reach zero consensus, which is unable to bring the system to dynamic consensus. In addition, from the view of energy conservation, this study proposes the impulsive control method to reduce the energy consumption of the controller. By taking advantages of the stability theory of impulsive systems, as well as the properties of Laplacian matrix and convex hull, corresponding distributed dynamic consensus protocols are proposed. Still, the shape reference set is introduced to assess the attraction domain of the leaderless MASs. Finally, the performance of the proposed anti-saturation impulsive control algorithm is demonstrated by extensive numerical experiments.

中文翻译：

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具有输入饱和的非线性多智能体系统的分布式无领导脉冲共识

摘要 本文旨在为一类非线性饱和多智能体系统提出动态共识协议。由于每个代理的非线性动力学的存在，系统不满足称为有界控制渐近零可控（ANCBC）的条件。因此，不能使用广泛采用的低增益反馈方法来解决输入饱和的线性多智能体系统的一致性控制问题。退一步说，即使系统是线性的并且满足ANCBC条件，现有的低增益方法或与自适应方法结合的方法也只能使系统最终达到零共识，无法使系统达到动态共识。此外，从节能的角度来看，本研究提出了脉冲控制方法来降低控制器的能耗。利用脉冲系统的稳定性理论，以及拉普拉斯矩阵和凸包的性质，提出了相应的分布式动态共识协议。尽管如此，引入了形状参考集来评估无领导 MAS 的吸引力域。最后，通过大量的数值实验证明了所提出的抗饱和脉冲控制算法的性能。