Target centric formation control with bounded input

In this paper, we present a distributive target-centric formation controller with saturated control action for multiple unmanned aerial vehicles (UAVs). The desired target-centric formation is maintained using consensus protocol. We show that if there exists at least one vehicle in the group of agents who has the complete target information and corresponding communication graph is connected, then a target-centric formation can be maintained around the around the target. A Lyapunov function is chosen to show the stability of the system under the saturated control law. The performance of the proposed controller is demonstrated by using computer simulations.