This paper studies the consensus problem for heterogeneous multi-agent systems with output saturations. We consider the agents to have different dynamics and assume that the agents are neutrally stable and that the communication graph is undirected. The goal of this paper is to achieve the consensus for leaderless and leader-following cases. To solve this problem, we propose the observer-based distributed consensus algorithms, which consists of three parts: the nonlinear observer, the reference generator, and the regulator. Then, we analyze the consensus based on the Lasalle’s Invariance Principle and the input-to-state stability. Finally, we provide numerical examples to demonstrate the validity of the proposed algorithms.

中文翻译：

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具有输出饱和的异构多Agent系统的基于观测器的共识控制

本文研究了具有输出饱和的异构多主体系统的共识问题。我们认为代理具有不同的动力学，并假定代理是中性稳定的，并且通信图是无向的。本文的目的是就无领导者和领导者跟随案例达成共识。为了解决这个问题，我们提出了基于观测器的分布式共识算法，该算法由三部分组成：非线性观测器，参考生成器和调节器。然后，我们基于Lasalle不变原理和输入到状态稳定性分析共识。最后，我们提供了数值示例来证明所提出算法的有效性。