Semi-global state synchronization for continuous or discrete-time multi-agent systems subject to actuator saturation

This paper studies semi-global state synchronization of homogeneous networks with diffusive full-state coupling or partial-state coupling in the presence of input saturation. Both continuous-time and discrete-time agents are considered. We assume that agents are at most critical unstable, that is the agents have all its eigenvalues in the closed left-half complex plane for continuous-time systems, or have all its eigenvalues in the closed unit disc for discrete-time systems. The communication network is associated with a graph containing a directed spanning tree. In this paper, we propose a linear static protocol for MAS with full-state coupling and a linear dynamic protocol for MAS with partial-state coupling based on a low-gain methodology, such that state synchronization is achieved among agents for any initial conditions in an, a priori given, compact set.