Partial consensus of identical feedforward dynamic systems with input saturations

Abstract

This paper studies the partial consensus problem for identical feedforward dynamic systems with input saturations. We construct two consensus protocols using the partial-state information and full-state information, respectively. Applying a change of coordinates, feedforward system is transformed into the block diagonal form. Then, by utilizing the bounded real lemma and small gain theorem, we solve the partial consensus problem, and the existence of each protocol is derived. © 2015 John Wiley & Sons, Ltd.