Adaptive consensus of multi-agent systems with unknown control coefficients and input saturation

Consensus-based formation control and obstacle avoidance for nonholonomic multi-robot system

“…Generally, consensus is based on graph theory with an objective of reaching an agreement among robots in the network [10]. There exist numerous studies on consensus for second-order system including [11] and [12] while the algorithm for first-order system can be found in [13] and [14]. Leader-follower consensus control laws were proposed by [15] and [16], in which the leader is generally represented by a virtual robot.…”