On Consensus of Multi-agent Systems with Input Saturation: Fully Distributed Adaptive Anti-windup Protocol Design Approach

Input saturation is a quite common phenomenon when implementing a controller. Failing to deal with the effect of input saturation may cause failure of the control tasks. This paper develops fully distributed adaptive protocol design approaches for consensus of multi-agent systems (MASs) subject to input saturation with local output information. By introducing an extra internal state as the anti-windup compensator for each agent, two types of fully distributed adaptive protocols are presented, namely edge-based distributed adaptive anti-windup protocol and nodebased distributed adaptive anti-windup protocol. For the case with absolute output information, to further reduce the order of the protocols, the local observer as well as the integrated distributed anti-windup observer are designed, based on which fully distributed edge-based adaptive anti-windup protocol is presented. Such integrated observer suitable for node-based protocol is also proposed, and the corresponding fully distributed node-based adaptive anti-windup protocol is then given. The discussions on the difference among the protocols designed in this paper are also elaborated. The main featur IEEE