Time-varying formation tracking control for multi-agent systems with input saturation
Xiaoduo Li, Xiwang Dong, Qingdong Li, Zhang Ren · 2017
This paper investigates the problem of formation control for multi-agent systems with general linear dynamics and input saturation. The time-varying formation tracking this paper deal with is required to be piecewise differentiable. Firstly, a time-varying formation control protocol is presented. Then an algorithm consisting of 3 steps to design the formation control protocol is proposed. As follows, it is proven that under the designed formation control protocol, the multi-agent systems with input saturation can achieve the desired time-varying formation tracking which belongs to the feasible formation set. Finally, numerical simulations are presented to verify the effectiveness of the proposed algorithms.