Distributed consensus for complex heterogeneous multi‐agent systems under input saturation

Abstract This paper focuses on the consensus problem for heterogeneous multi‐agent systems (HMASs) consisting of second‐order linear agents and nonlinear Euler–Lagrange (EL) agents. Firstly, the HMASs consensus control protocols are designed in the cases of leaderless and leader‐following, respectively. Among them, the research of these two parts is based on the undirected communication topology. Then, through the mathematical knowledge such as graph theory and Lasalle's invariance principle, the sufficient conditions of consensus are given, and the stability of the controller is further proved. At last, the validity of the above theory is proved by simulation results.