This paper focuses on the consensus tracking control of nonlinear multi-agent systems by utilizing the quadratic inner-bounded (QIB) and the one-sided Lipschitz (OSL) conditions in the presence of input saturation constraint under a directed communication topology. A novel sector constraint for the saturation function to formulate consensus control of nonlinear systems under saturating inputs is derived. This sector condition is applied to develop a leader-following consensus of nonlinear agents. A local treatment of the consensus control, ensuring a guaranteed region of stability in the presence of input constraints is provided herein. A computationally simple convex routine-based approach is attained for extraction of the coupling weight and gain of the relative state feedback-based consensus protocol along with the enlargement of the region of stability. Unlike the conventional schemes, the proposed approach can deal with OSL nonlinear agents, effectively employs the information of communication topology in the sector condition, and can be applied to both linear and nonlinear regions of actuators. Moreover, a useful consensus approach for the Lipschitz nonlinear agents is obtained as a particular scenario of the resultant method. Numerical examples to demonstrate the applications and effectiveness of the proposed approach for the input-constrained nonlinear mobile and robotic agents are provided.

本文针对在定向通信拓扑下存在输入饱和约束的情况下，利用二次内界（QIB）和单侧Lipschitz（OSL）条件，对非线性多智能体系统的共识跟踪控制进行了研究。推导了饱和函数在饱和输入下建立非线性系统的一致控制的新型扇区约束。此部门条件适用于发展非线性代理的领导者遵循共识。本文提供了共识控制的局部处理，可确保在存在输入约束的情况下保证有稳定的区域。获得了一种基于计算的简单凸例程的方法，用于提取耦合权重和基于相对状态反馈的共识协议的增益以及稳定区域的扩大。与传统方案不同，该方法可以处理OSL非线性代理，在扇区条件下有效地利用通信拓扑信息，并且可以应用于执行器的线性和非线性区域。此外，作为所得方法的特定方案，获得了针对Lipschitz非线性代理的有用的共识方法。数值实例证明了该方法在输入受限的非线性移动和机器人代理中的应用和有效性。该方法可以处理OSL非线性代理，有效地利用扇区条件下的通信拓扑信息，并且可以应用于执行器的线性和非线性区域。此外，作为所得方法的特定方案，获得了针对Lipschitz非线性代理的有用的共识方法。数值实例证明了该方法在输入受限的非线性移动和机器人代理中的应用和有效性。该方法可以处理OSL非线性代理，有效地利用扇区条件下的通信拓扑信息，并且可以应用于执行器的线性和非线性区域。此外，作为所得方法的特定方案，获得了针对Lipschitz非线性代理的有用的共识方法。数值实例证明了该方法在输入受限的非线性移动和机器人代理中的应用和有效性。