Distributed Control for the Flocking of Multi Nonholonomic Agent Systems with Bounded Inputs

A distributed control strategy for a group of nonholonomic agents is developed to achieve a flocking behavior while reaching a goal region with collision/obstacle avoidance. Bounded laws are used to take into account actuators limits for physical systems. Also, the stability of the multi-agent system is analyzed for a fixed communication topology, and some conditions are provided to ensure that agents do not collide with each other considering a safety margin. This strategy is validated using computer simulations for a group of nonholonomic vehicles moving in a three-dimensional environment.