# Distributed Event-Triggered Control for Global Consensus of Multi-Agent Systems with Input Saturation

## TL;DR

This paper develops a distributed event-triggered control approach ensuring global consensus in multi-agent systems with input saturation, reducing communication needs while avoiding Zeno behavior.

## Contribution

It extends existing consensus protocols to handle input saturation and introduces an event-triggered law to minimize communication, ensuring convergence and excluding Zeno behavior.

## Key findings

- Consensus achieved under input saturation constraints
- Event-triggered control reduces communication frequency
- Zeno behavior is effectively excluded

## Abstract

We consider the global consensus problem for multi-agent systems with input saturation over digraphs. Under a mild connectivity condition that the underlying digraph has a directed spanning tree, we use Lyapunov methods to show that the widely used distributed consensus protocol, which solves the consensus problem for the case without input saturation constraints, also solves the global consensus problem for the case with input saturation constraints. In order to reduce the overall need of communication and system updates, we then propose a distributed event-triggered control law. Global consensus is still realized and Zeno behavior is excluded. Numerical simulations are provided to illustrate the effectiveness of the theoretical results.