Adaptive Leader-Follower Flocking for Uncertain Lagrange Systems with Input Saturation and External Disturbances

摘要

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.