Decentralized state feedback consensus of linear multi-agent systems with input saturation

The decentralized state feedback consensus problem for multi-agent systems under actuator saturation is formulated in this paper. The entire system is decentralized in the sense that each agent can only obtain information from its neighbor agents. Firstly, a decentralized controller is designed based on graph Laplacian. The consensus problem is reduced to solve the matrix inequality problem under actuator saturation. Secondly, an optimization algorithm for feedback controller is proposed in order to achieve a large domain of attraction for the resulting closed-loop system. Finally, a numerical example is given to demonstrate the effectiveness of the design algorithm.