On pinning group consensus for heterogeneous multi-agent system with input saturation

This paper investigates group consensus of a class of heterogeneous multi-agent systems with input saturation via pinning scheme, in where the heterogeneous multi-agent system is composed of first-order agents and second-order agents. Firstly, based on the fact that the control input of partial first-order integrator agents could be bounded due to the limitation of actuators, a class of control protocols including partial first-order integrator agents with input saturation is proposed to solve the group consensus problem of heterogeneous multi-agent systems. Secondly, to guarantee the states of agents in the same group can converge to one specified consensus state, the group consensus problem of heterogeneous multi-agent systems with some pinned agents who can be first-order or second-order agents is discussed. Then a class of new control protocols with pinning scheme is proposed. By using LaSalle Invariance Principle, matrix theory, algebraic graph theory and Lyapunov stability theory, the rigorous proofs are given and the corresponding sufficient group conditions are also obtained. Finally, simulation results are also provided to illustrate the effectiveness of the obtained results.