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This paper studies the semi-global leaderless output consensus problem for heterogeneous multi-agent systems with input saturations. To solve the consensus problem under the input saturations, the consensus trajectory should be bounded such that the control inputs of all agents are not saturated. However, generating a bounded trajectory satisfying this condition is not an easy problem. Accordingly, we construct the modified reference generator to generate the bounded trajectory for any bounded initial states, and two types of distributed controllers depending on the available information are proposed to track the generated trajectory. Specifically, we construct the distributed controllers using the state feedback and the output feedback based on the output regulation approach, respectively. Then, utilizing the low gain method, we show the existence of the solution for the semi-global output consensus problem. Finally, we provide numerical examples to demonstrate the theoretical results.

Semi-Global Leaderless Output Consensus of Heterogeneous Multi-Agent Systems With Input Saturations