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Global Leader-following Control of Multiple Non-holonomic Mobile Robots With Input Saturation

In this paper, global leader-following consensus problem is investigated for multiple non-holonomic mobile robots subject to input saturation. A globally bounded distributed controller based on only relative state measurements in local coordinate is designed. Under the assumption that the leader's angular velocity is persistently exciting, sufficient conditions for the achievement of consensus tracking in the closed-loop multi-agent systems are established. Finally, simulation examples are provided to illustrate the analytical results.