Distributed Adaptive Time-Varying Formation Tracking for Input Saturated Multi-Agent Systems With Multiple Leaders

This paper studies the problem of distributed adaptive time-varying formation tracking for multi-agent systems (MASs) with multiple leaders on a directed graph, where the input is saturated. Firstly, we represent a time-varying formation control protocol. On this basis, a novel kind of time-varying tracking protocol with adaptive control is proposed. It is worth mentioning that this protocol does not require global information. This is a kind of only using the relative state information distributed adaptive control protocol, so as to avoid the direct calculation of the graph Laplacian matrix. Moreover, this paper considers multiple leaders in the MASs, rather than only one leader as in most articles. Then, we demonstrate through some mathematical calculations that the multi-agent system with input saturation can realize the expected time-varying formation tracking. In the end, we validated the practicality of the time-varying formation tracking algorithm through the simulation examples.