# Consensus Control of Saturated Multi-Agent Systems with Heterogeneous Asymmetric Saturation Constraints Under Flexible Topologies

## TL;DR

This paper studies how groups of systems with different saturation limits can still reach agreement using flexible network structures.

## Contribution

The paper proves that consensus can be achieved despite non-identical asymmetric saturation constraints in multi-agent systems.

## Key findings

- Conventional distributed protocols can achieve consensus under a uniformly quasi-strongly connected topology.
- The consensus algorithm is inherently tolerant to heterogeneous asymmetric saturation constraints.
- Numerical simulations confirm the theoretical results.

## Abstract

This paper investigates the consensus control of saturated continuous-time multi-agent systems with heterogeneous asymmetric saturation constraints under directed switching topologies of joint connectivity. Notably, the saturation level is asymmetric for each individual agent, and furthermore, these levels differ across the entire agent network. It is proven, by tools of the asymptotic stability and comparison principle, that conventional distributed protocols suffice to achieve consensus under the assumption of a uniformly quasi-strongly connected topology. This result fundamentally establishes the inherent tolerance of consensus algorithm to such generic, non-identical asymmetric saturation constraints. Numerical simulations are carried out to verify the effectiveness of the theoretical results.