Consensus Control of Saturated Multi-Agent Systems with Heterogeneous Asymmetric Saturation Constraints Under Flexible Topologies

This paper investigates the consensus control of saturated continuous-time multi-agent systems with heterogeneous asymmetric saturation constraints under directed switching topologies of joint connectivity. Notably, the saturation level is asymmetric for each individual agent, and furthermore, these levels differ across the entire agent network. It is proven, by tools of the asymptotic stability and comparison principle, that conventional distributed protocols suffice to achieve consensus under the assumption of a uniformly quasi-strongly connected topology. This result fundamentally establishes the inherent tolerance of consensus algorithm to such generic, non-identical asymmetric saturation constraints. Numerical simulations are carried out to verify the effectiveness of the theoretical results.