Abstract
In this work, we study the leader-follower flocking problem of multi-agent systems with uncertain Lagrange dynamics subject to input saturation and external disturbances. We propose an adaptive protocol for prevention of actuator saturation and deterioration of external disturbance and model uncertainty. Our protocol, in comparing to the existing work in the flocking is simple, technically and implantation. Under the designed protocol, velocity convergence of agents to that of the virtual leader is guaranteed while the connectivity preservation of network and collision avoidance among agents are ensured as well.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
