Neural-based formation control of uncertain multi-agent systems with actuator saturation

Abstract The formation control problem for a group of first-order agents with model uncertainty and actuator saturation is investigated in this manuscript. An algorithm-and-observer-based controller developed to ensure the semi-global boundedness tracking error saturation. First, fully local-error-related cooperative weight tuning procedure proposed adaptive estimation each agent. effect on both design part then analysed discussed. A three-layer neural-based observer further constructed achieve finite-time approximation Besides, reverse led by coupled saturated inputs defined new input distribution algorithm presented attenuate potential oscillation system states. Finally, comparative simulations based multiple omnidirectional robot are conducted illustrate performance controllers algorithm.