Scaled consensus of multi-agent systems with output saturation

This paper studies a scaled consensus problem with output saturation in the sense that the states of agents reach assigned proportions rather than a common consensus value. Specifically, we investigate single-integrator agents with output saturation under both undirected and strongly connected graphs. Some conditions for single-integrator agents with output saturation are illustrated. The main contribution is that by employing an integral Lyapunov function, a necessary and sufficient condition is first obtained to reach scaled consensus among agents with output saturation. Simulation results are presented to show the performance of the scaled consensus.