Consensus for Multi-agent System with Bounded Control in Limited Communication

This paper investigates the consensus problem of continuous-time multi-agent system with input bounded control and limited communication. Necessary and sufficient conditions of consensus problem for double cascade integrator system are known well. However, in practical application, there are certain constraints on the input control that not be allowed to design by freedom. Moreover, we consider to limit the agents communication range to reduce the energy consumption. Thus, we achieve the velocity consensus of multi-agents by developing the interaction rules based on Lyapunov stability control combining bounded control in limited communication with mathematical rigor.