Semi-global bipartite consensus for linear multi-agent systems subject to actuator saturation

In this paper, the problem of semi-global bipartite consensus is examined for a group of homogeneous generic linear agents subject to input saturation under directed interaction topology. Distributed feedback controllers with a parameter adjusted by use of the low gain feedback technique are proposed to reach the semi-global bipartite consensus of multi-agent systems with input saturation, when each agent is asymptotically null controllable with bounded controls and the interaction network described by a signed diagraph is structurally balanced and has a spanning tree. Numerical simulations are given to illustrate the effectiveness of the proposed distributed control scheme