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This paper investigates the impact of bounded actuation on theconnectivity-preserving consensus of two classes of multi-agent systems, withkinematic agents and with Euler- Lagrange agents. The investigation establishesthat: (1) there exists a class of gradient-based controls which drive kinematicmulti-agent systems to connectivity-preserving consensus even if they saturate;(2) actuator saturation restricts the initial states from which Euler-Lagrangemulti-agent systems can be synchronized while preserving their localconnectivity; (3) Euler-Lagrange multi-agent systems with unbounded actuationcan achieve connectivity-preserving consensus without velocity measurements orexact system dynamics; and (4) a proposed indirect coupling control strategydrives Euler-Lagrange multi-agent systems with limited actuation and startingfrom rest to connectivitypreserving consensus without requiring velocitymeasurements and including in the presence of uncertain dynamics andtimevarying delays.

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