The agent dynamics in a multi-agent system subject to both actuator saturation and unknown nonuniform input delay impose difficulty in the protocol design for all agents achieving state synchronization, although solutions can be found for agents with actuator saturation and for agents with input delay. In this paper, we design a low-gain based protocol for each agent such that the protocol output (agents’ inputs) can be squeezed enough and the saturation is not activated. Moreover, an upper bound of the input delay is obtained. This paper focuses on a class of agent systems, i.e. all agents’ eigenvalues are in the closed left half plane (that is at most unstable agents), and topology describing the coupling among agents is undirected, but weighed. The numerical results with six agents coupled with full states and partial states illustrates the effectiveness of the proposed protocol design.

中文翻译：

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致动器饱和和未知非均匀输入延迟的多智能体系统的半全局状态同步

尽管可以找到具有执行器饱和的座席和具有输入延迟的座席的解决方案，但在多座席系统中，座席动力学既要受执行器饱和又要受到未知的不均匀输入延迟的影响，这对实现状态同步的所有座席都给协议设计带来了困难。在本文中，我们为每个代理设计了一个基于低增益的协议，以便可以充分压缩协议输出（代理的输入），并且不激活饱和。此外，获得输入延迟的上限。本文着重于一类智能体系统，即所有智能体的特征值均位于封闭的左半平面（至多是不稳定的智能体）中，描述智能体之间耦合的拓扑结构是无向的，但却是权重的。