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A class of networked multi-agent systems is studied in this study where each agent has an identical dynamics of a simple integrator and the topology of the connections is fixed. It is proved that, when there are saturation constraints, a general consensus protocol widely used in the literatures for this class of multi-agent systems remains valid. As an extension, a ‘bang-bang’ type of consensus protocol is proposed to achieve the finite-time consensus, which relaxes the previous undirected connection assumption.
Li et al. (2011) studied this question.