Consensus‐Based Formation Control of Nonholonomic Vehicles With Disturbances and Input Constraints

ABSTRACT This work presents a novel decentralized formation controller for networks of perturbed nonholonomic vehicles. The proposed controller is robust against unknown constant disturbances and mitigates actuator stress by addressing input saturation with a smooth control approach. A mathematical proof of convergence is provided, supported by numerical simulations that compare the performance of the proposed controller to an unbounded and a non robust control schemes.