Semi‐global containment control of multi‐agent systems with input saturation

This study investigates containment control of multi‐agent systems with input saturation and multiple leaders on directed networks. Both state feedback and output feedback containment control protocols are designed via low‐gain feedback approach. Under the assumption that the system is asymptotically null controllable with bounded controls and there exists at least one leader that has a directed path to each follower, semi‐global state feedback and output feedback containment control of the multi‐agent system can be attained. Numerical examples are provided to illustrate the effectiveness of the theoretical results.