Event-Triggering Formation Tracking for Second-Order Multi-Agent Systems Subjected to Input Saturation

In this paper, we address the formation of tracking control problems for second-order multi-agent systems, in which each agent is subject to input saturation. First, by using the low-gain state feedback technique, it is proved that the second-order multi-agent system subjected to input saturation achieves the specified formation tracking if the formation tracking feasibility condition holds. Then, in order to reduce the communication load, an event-triggering control strategy is applied to solving the considered system. It is shown that the specified formation tracking is guaranteed, and Zeno behavior can be avoided. Finally, the several simulation examples are given to confirm the theoretical results.