Consensus algorithm with input constraints for swarm robots formation control

Abstract

In this paper, a consensus algorithm with input constraints for swarm robots was introduced. The stability of the algorithm was proved via Lyapnov stability criterion. The algorithm of aggregation and dispersion behavior with input constraints was established by applying the algorithm to formation control. The simulation results of swarm robots formation control showed that the converge rate of the consensus with input constrains is slower and smoother than the consensus without input constrains.