Semi-global leader-follower consensus for networked unmanned multi-aircraft systems with input saturation

This paper deals with the design of a consensus algorithm for a multi-aircraft (type Quadrotor) leader-follower system. This algorithm uses directed communication topologies, as well as input saturation for the follower agents. The convergence analysis of the proposed strategies is analyzed by using Lyapunov stability theory. Semi-global asymptotic consensus tracking is obtained for the case of leader with input zero, while semi-global practical consensus tracking is achieved for the case of leader with input non-zero. To demonstrate the effectiveness of the proposed solution, a set of simulation results is presented.