This paper studies safe distributed consensus for single-integrator multi-agent systems over connected undirected graphs under simultaneous asymmetric actuator constraints and output safety constraints. Each agent is equipped with a continuously differentiable asymmetric actuator dynamics that maps a commanded control signal to the realized plant input while keeping the latter strictly inside a prescribed admissible interval. To address output safety, a barrier-coordinate transformation is introduced over a common time-varying safe interval, and a distributed synchronization law is designed in the transformed coordinates. The resulting controller integrates a graph-based coordination layer with an actuator-side tracking layer, thereby enabling simultaneous enforcement of input admissibility, forward invariance of the safe output set, and asymptotic synchronization. For compact admissible sets of initial conditions, it is shown that the closed-loop solution is complete, all signals remain bounded, the actuator inputs remain strictly within their asymmetric bounds, and the agent outputs remain inside the prescribed safe interval for all time. Moreover, the transformed synchronization errors converge exponentially to zero, and the original agent outputs asymptotically synchronize to a designer-selected admissible trajectory embedded in the common safe interval. Numerical simulations validate the proposed framework and demonstrate safe consensus under both asymmetric actuation bounds and time-varying output constraints.

翻译：本文针对连接无向图上的单积分器多智能体系统，研究了在同时存在非对称执行器约束和输出安全约束下的分布式安全一致性问题。每个智能体配备一个连续可微的非对称执行器动力学，该动力学将指令控制信号映射到实际被控对象的输入，同时确保后者严格保持在指定的允许区间内。为解决输出安全性问题，引入了一个基于公共时变安全区间的屏障坐标变换，并在变换后的坐标中设计了分布式同步律。所得到的控制器将基于图的协调层与执行器侧跟踪层相结合，从而同时实现输入可行性、安全输出集的正向不变性以及渐近同步。对于紧致的初始条件可行集，证明闭环解是完整的，所有信号有界，执行器输入始终严格保持在非对称边界内，智能体输出始终保持在指定的安全区间内。此外，变换后的同步误差指数收敛到零，原始智能体输出渐近同步到嵌入公共安全区间内由设计者选择的可行轨迹。数值仿真验证了所提出框架的有效性，并展示了在非对称执行器边界和时变输出约束下的安全一致性。