Abstract
In this article, we study the time-varying formation-containment (TVFC) tracking problem for linear multi-agent systems (MASs) and take the input saturation problem of the systems into account. An observer-based TVFC tracking protocol is proposed. It has been proven that the real leaders can realize the expected formation and track the virtual leader’s trajectory, and followers can get into the convex envelope spanned by the leaders. In addition, to avoid unexpected large chattering caused by nonzero input, we propose a continuous protocol. Under this protocol, each error is uniformly ultimately bounded and is able to converge to any small zero neighborhood. At the end, the feasibility of the TVFC theory is demonstrated by simulation examples.
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