Second-order consensus algorithm with input constraints for swarm robots formation control

In this paper, a second-order consensus algorithm with input constraints was introduced. The condition of the algorithm for reaching consensus was given. Via Lyapnov stability criterion, the stability of the algorithm was proved. Based on this algorithm, a new control algorithm for swarm robots formation control was also proposed. Finally, from the simulation results of the above algorithms, it can be found that the algorithms with input constraints showed a better consensus performance than the algorithm without input constraints.