Consensus analysis for heterogeneous multiagent systems subject to input saturation

Abstract This paper investigates the consensus problem of heterogeneous multiagent systems (HMASs) consisting of first‐order and second‐order agents, where second‐order linear and second‐order nonlinear agents are included in the second‐order agents. Firstly, the consensus problem of HMASs without input saturation is studied in the first part. However, in practical applications, due to the physical limitations of actuators, saturation often occurs. Therefore, we focus on the consensus problem of HMASs with input saturation in the second part. Then based on the knowledge of Lyapunov stability theory and graph theory, it gives sufficient conditions for these HMASs to reach consensus, which ensures that each agent eventually reaches consensus. Eventually, the effectiveness of the theory is verified by performing simulations.