Passivity based state synchronization of homogeneous multi-agent systems via static protocol in presence of input saturation

This paper studies semi-global and global state synchronization of homogeneous multi-agent systems (MAS) with partial-state coupling via a static protocol in the presence of input saturation. We consider two classes of agents, G-passive and G-passifiable via input feedforward, for which a static linear protocol can be designed. For semi-global stabilization we consider directed networks which contain a directed spanning tree. For global stabilization we consider strongly connected networks which are detailed balanced.