Velocity-free compact rigid flock control with input saturations

It is often encountered in industrial multi-agent systems the unavailability of velocity sensors or the imprecise measurements of velocities. This work addresses the velocity-free flock control problem with input saturation. Using algebraic graph theory and Barbalat´s Lemma, we prove that the algorithm guarantees the system to converge to a rigid flock behavior where all the agents in the group move with the same velocity. Moreover, the flock will converge to a prescribed tight formation which minimizes all agents´ global potentials. Finally, the proposed flock control method are examined by numerical simulations to show its effectiveness.