Research on consensus of multi-agent systems with and without input saturation constraints

In recent years, with the continuous development of multi-agent technology represented by unmanned aerial vehicle (UAV) swarm, consensus control has become a hot spot in academic research. this paper, we put forward discrete-time protocol and obtain necessary sufficient conditions for second-order system fixed structure under condition no saturation input. The theoretical derivation verifies that two eigenvalues Laplacian communication network matrix sampling period have an important effect on achieving consensus. Then construct verify to achieve input constraints. results show can be achieved if velocity, position gain, satisfy set inequalities related matrix. Finally, accuracy validity are proved numerical simulations.