Distributed Leaderless Impulsive Consensus of Nonlinear Multi-Agent Systems with Input Saturation

This work deals with the leaderless exponential consensus control problem of a class of Lipschitz nonlinear multiagent systems (MASs) with input saturation. Since each agent has nonlinear dynamics, the system is no longer asymptotically null controllable with bounded controls (ANCBC). As a result, the widely-accepted low-gain feedback method for designing consensus protocols of MASs with input saturation can no longer work. According to the stability theory of impulsive systems and with the properties of convex hull, corresponding distributed impulsive consensus protocols are proposed. Finally, the effectiveness of the proposed anti-saturation impulsive consensus algorithm is validated by extensive numerical experiments.