Semiglobal state synchronization for continuous- or discrete-time multiagent systems subject to actuator saturation

This paper studies the semiglobal state synchronization of homogeneous networks with diffusive full-state coupling or partial-state coupling in the presence of input saturation. Both continuous- and discrete-time agents are considered. We assume that agents are, at most, critically unstable, that is, the agents either 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 multiagent systems with full-state coupling and a linear dynamic protocol for multiagent systems 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.