In this paper, consensus problem of mixed-order multi-agent systems composed of first-order and second-order agents subject to input and velocity constraint is investigated. A distributed consensus bounded control law depending on information interchange with the adjacent agents is constructed, the range of communication gain is calculated by using Lyapunov stability theory and Lasalle invariant set principle. Consensus is achieved under the control laws if the communication topology graph is connected and undirected. Finally, the effectiveness of the proposed theorem is verified by numerical simulation.
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