Consensus of Multi-Agent Systems With Asymmetric Input Saturation Over Directed Graph

In this brief, the consensus issue of continuous-time first-order multi-agent systems (MASs) subject to asymmetric input saturation under the directed graph containing a directed spanning tree is investigated. First, a fully distributed consensus protocol is proposed. We discuss the scenario where there are zeros in the partial saturation bounds. Based on the contradiction method and the graph theory, a necessary and sufficient criterion for guaranteeing the global consensus is given. After that, we extend the above findings to the discrete-time case, where an upper bound of the sample time is explicitly formulated. Finally, simulation examples verify the effectiveness of our proposed strategy.