Distributed Containment Control for Second-Order Multi-Agent Systems with Input Saturation

This paper studies the issue of distribute containment control for second-order multi-agent systems subject to input saturation under directed communication graphs. A distributed observer was designed to estimate desired position by requiring only the position information between neighboring agents. Combining the dynamic surface control and an affine saturation model, a distributed controller is proposed to address the input saturation for multi-agent systems. It's proved that the followers will converge into the convex formed by dynamic leaders. Finally, the feasibility of the containment controller is verified by numerical simulations.