Semi-global containment control of multi-agent systems with intermittent input saturation

This paper investigates containment control of multi-agent systems with intermittent communications and input saturation on fixed undirected networks. Under the assumption that each agent is asymptotically null controllable with bounded controls and there exists at least one leader that has directed path to each followers, both state feedback and output feedback control protocols are designed by utilizing the algebraic Riccati equation. For any a priori given bounded set, semi-global state feedback and output feedback containment control of multi-agent systems with intermittent communication can be attained. Numerical simulations are provided to ensure the effectiveness of results.