Flocking in Multi-agent Systems with a Bounded Control Input

Abstract

Recently, the broad applications of multi-agent systems in many areas have stimulated a great deal of interests in studying coordinated control problems. Previous flocking protocols do not consider the input saturation. In this paper, we investigate the flocking problem with a bounded control input. Under the assumption that the underlying network is connected, all agents can attain the same velocity vector, and distances between the agents are stabilized. Numerical simulations are worked out to illustrate theoretical results.