Distributed iterative learning coordination control for leader-follower uncertain non-linear multi-agent systems with input saturation

In this study, the fully distributed adaptive iterative learning coordination control of the uncertain non-linear leader-follower multi-agent systems with input saturation is studied. Under the alignment initial condition and Lyapunov theory, a novel adaptive distributed control protocol with a fully saturated parameter learning law is designed. Despite the existence of input saturation, the global perfect consensus tracking can be realised over a finite time interval. Besides, the consensus tracking problem is extended to the formation control problem as well. Ultimately, the validity of theoretical analysis of this study is shown by two examples.