Circular formation control for multi-agent systems with input saturation

In this paper circular formation of a network of mobile agents with input saturation is considered. The goal is to drive the mobile agents to the configuration such that the distance between neighboring agents on a circle is consistent with prescribed distance. Distributed formation control laws with saturation constraints are developed which not only drive the agents to the desired configuration, but also preserve the mobile agents´ order on the circle and thus collision avoidance among agents is guaranteed. A simulation example is also provided to illustrate the effectiveness of the proposed control scheme.