This paper considers consensus strategy design for double-integrator multi-agent systems with matched disturbances under a directed graph. Specifically, we consider the case where both the control inputs and velocities of the agents are subject to different and asymmetric constraints. A novel distributed algorithm exploiting saturation functions is proposed to achieve asymptotic consensus without violating the predefined velocity and actuator saturation constraints. Subsequently, we extend the obtained results to event-triggered communication, where agent position broadcasting occurs only when specific triggering conditions are met. We rigorously prove that there exists a positive minimum inter-event time to rule out Zeno behavior. Finally, the simulation results confirm the theoretical findings and illustrate the achievable performance.

中文翻译：

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具有不同速度和执行器饱和约束的双积分器动力学的共识算法


本文考虑有向图下具有匹配扰动的双积分多智能体系统的共识策略设计。具体来说，我们考虑代理的控制输入和速度都受到不同且不对称约束的情况。提出了一种利用饱和函数的新型分布式算法，以在不违反预定义速度和执行器饱和约束的情况下实现渐近共识。随后，我们将获得的结果扩展到事件触发通信，其中仅当满足特定触发条件时才会发生代理位置广播。我们严格证明存在一个正的最小事件间时间来排除芝诺行为。最后，仿真结果证实了理论结果并说明了可实现的性能。