Distributed Leaderless and Leader-following Consensus for Second-order Heterogeneous Multi-agent Systems Under Input Saturation

This paper mainly investigates the consensus problem of heterogeneous multi-agent systems (HMASs) consisting of second-order linear and second-order nonlinear agents under input saturation. First, the consensus control protocols for HMASs in the leaderless case and the leader-following case are designed under undirected connected topology respectively, where there is a static leader under the leader-following network. Then, based on the knowledge of graph theory and Lyapunov stability theory, it is proved that HMASs can finally reach consensus if sufficient conditions are satisfied. Eventually, the effectiveness of the above theory is further illustrated by simulation examples.