Connectivity-Preserving Consensus of Multi-Agent Systems with Bounded Actuation

Abstract: This paper investigates the impact of bounded actuation on the connectivity-preserving consensus of two classes of multi-agent systems, with kinematic agents and with Euler- Lagrange agents. The investigation establishes that: (1) there exists a class of gradient-based controls which drive kinematic multi-agent systems to connectivity-preserving consensus even if they saturate; (2) actuator saturation restricts the initial states from which Euler-Lagrange multi-agent systems can be synchronized while preserving their local connectivity; (3) Euler-Lagrange multi-agent systems with unbounded actuation can achieve connectivity-preserving consensus without velocity measurements or exact system dynamics; and (4) a proposed indirect coupling control strategy drives Euler-Lagrange multi-agent systems with limited actuation and starting from rest to connectivitypreserving consensus without requiring velocity measurements and including in the presence of uncertain dynamics and timevarying delays.