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.