We consider the global consensus problem for multi-agent systems with inputsaturation over digraphs. Under a mild connectivity condition that theunderlying digraph has a directed spanning tree, we use Lyapunov methods toshow that the widely used distributed consensus protocol, which solves theconsensus problem for the case without input saturation constraints, alsosolves the global consensus problem for the case with input saturationconstraints. In order to reduce the overall need of communication and systemupdates, we then propose a distributed event-triggered control law. Globalconsensus is still realized and Zeno behavior is excluded. Numericalsimulations are provided to illustrate the effectiveness of the theoreticalresults.
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