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The hyperbolic tangent\u2013based saturation function is presented for achieving input saturation while reducing the chattering issue of classical saturation functions. The leader-following consensus controller with a single saturation function is constructed to address the issue of saturation level partition between position feedback and velocity feedback. Theoretically, the property of finite-time consensus, bounded input, and smoothness of a closed-form system are proved by the Lyapunov theory in detail. 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