This article presents the consensus of a saturated second order multi-agentsystem with non-switching dynamics that can be represented by a directed graph.The system is affected by data processing (input delay) and communicationtime-delays that are assumed to be asynchronous. The agents have saturationnonlinearities, each of them is approximated into separate linear and nonlinearelements. Nonlinear elements are represented by describing functions.Describing functions and stability of linear elements are used to estimate theexistence of limit cycles in the system with multiple control laws. Stabilityanalysis of the linear element is performed using Lyapunov-Krasovskii functionsand frequency domain analysis. A comparison of pros and cons of both theanalyses with respect to time-delay ranges, applicability and computationcomplexity is presented. Simulation and corresponding hardware implementationresults are demonstrated to support theoretical results.
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