Abstract The formation control problem for a group of first-order agents with model uncertainty and actuator saturation is investigated in this manuscript. An algorithm-and-observer-based controller developed to ensure the semi-global boundedness tracking error saturation. First, fully local-error-related cooperative weight tuning procedure proposed adaptive estimation each agent. effect on bot...

In this paper, we study the local stabilization of nonlinear systems with uncertain equilibrium states and in presence actuator constraints. We propose a derivative feedback control scheme to stabilize system, drive system its true state even when location such is uncertain. Actuator constraints are also considered stability conditions derived for cases output energy bounded, subject saturation...