Input-Bounded Displacement-Style Formation Control

This article introduces input-bounded displacement-style formation control methods for multiagent systems modeled by single- and double-integrator dynamics with input saturation. Displacement-based formation control, which relies on relative positions between agents, is extended by incorporating orientation estimation. The proposed control laws ensure that the agents achieve the desired formations while maintaining bounded inputs to avoid input saturation. Under the condition of a strongly connected and detailed balanced graph, we prove that the multiagent systems globally asymptotically converge to the desired formation up to the translation and rotation with bounded input when the orientation estimations reach consensus. The simulation results of the formation control have been provided to validate the theoretical results.