Passivity-based state synchronization of homogeneous multiagent systems via static protocol in the presence of input saturation

This paper studies semiglobal and global state synchronization of homogeneous multiagent systems with partial-state coupling (ie, agents are coupled through part of their states) via a static protocol. We consider 2 classes of agents, ie, G-passive and G-passifiable via input feedforward, which are subjected to input saturation. The proposed static protocol is purely decentralized, ie, without an additional channel for the exchange of controller states. For semiglobal synchronization, a static protocol is designed for an a priori given set of network graphs with a directed spanning tree. In other words, the static protocol only needs rough information on the network graph, ie, a lower bound for the real part and an upper bound for the modulus, of the nonzero eigenvalues of the corresponding Laplacian matrix. Whereas for global synchronization, only strongly connected and detailed balanced network graphs are considered. In this case, for G-passive agents, the static protocol does not need any network information, whereas for G-passifiable agents via input feedforward, the static protocol only needs an upper bound for the modulus of the eigenvalues of the corresponding Laplacian matrix.