Observer-based Distributed Consensus Algorithm for Multi-agent Systems with Output Saturations

  • Lim, Young-Hun ;
  • Lee, Gwang-Seok
  • Received : 2018.11.26
  • Accepted : 2019.09.24
  • Published : 2019.09.30


This study investigates the problem of leader-following consensus for multi-agent systems with output saturations. This study assumes that the agents are described as a neutrally stable system, and the leader agent generates the bounded trajectory within the saturation level. Then, the objective of the leader-following consensus is to track the trajectory of the leader by exchanging information with neighbors. To solve this problem, we propose an observer-based distributed consensus algorithm. Then, we provide a consensus analysis by applying the Lyapunov stability theorem and LaSalle's invariance principle. The result shows that the agents achieve the leader-following consensus in a global sense. Moreover, we can achieve the consensus by choosing any positive control gain. Finally, we perform a numerical simulation to demonstrate the validity of the proposed algorithm.


Consensus;Distributed algorithm;Multi-agent system;Output saturation


Supported by : Gyeongnam National University of Science and Technology