Scale-free linear protocol design for global regulated state synchronization of discrete-time double-integrator multi-agent systems subject to actuator saturation

TL;DR

This paper introduces a scale-free linear protocol enabling global state synchronization in discrete-time double-integrator multi-agent systems with actuator saturation, regardless of network size or topology, using localized information exchange.

Contribution

The paper proposes a novel scale-free linear protocol that guarantees global synchronization for any network topology with directed graphs and actuator saturation.

Findings

Achieves global synchronization with arbitrary network size.

Works with directed communication graphs with a path to the exosystem.

Effective under actuator saturation constraints.

Abstract

This paper studies global regulated state synchronization of discrete-time double-integrator multi-agent systems subject to actuator saturation by utilizing localized information exchange. We propose a scale-free linear protocol that achieves global regulated state synchronization for any network with arbitrary number of agents and arbitrarily directed communication graph that has a path between each agent and exosystem which generates the reference trajectory.