Target-fencing control of multi-agent systems with input saturation

In this paper, we studied the problem of stationary target-fencing control for multi-agent systems with input saturation constraints. The distributed controller is designed by using low gain feedback and saturation functions that use distances between neighboring agents and distances between each agent and the target. The law does not need to pre-specify the shape of the agents' formation to achieve target-fencing, and collision avoid-ance between agents is guaranteed. The stability of the controller is demonstrated by the Lyapunov method. Finally, the simulation results verify the effectiveness of the proposed control law.