Consensus-Based Formation Control of Multiple Nonholonomic Vehicles Under Input Constraints

We address the open problem of consensus-based formation control nonholonomic multiagent vehicles with pre-imposed input constraints. That is stabilizing a group second-order differential-drive robots, making them acquire determined pattern around non pre-specified point on plane and common orientation. This also known as leaderless full consensus. Our controller smooth time-varying, fully distributed. Its design natural modification another proposed earlier, which relies proportional feedback, damping injection, time-varying term that injects persistency excitation in system to overcome effects nonholonomicity. It assumed robots communicate over network an undirected-graph topology.