Fully distributed coordination learning control of second‐order nonlinear multi‐agent systems with input saturation

This paper develops the coordination learning control of second‐order non‐linear multi‐agent systems with input saturation. Fully distributed learning consensus protocols with fully saturated parameter adaptive updating laws are designed. Although there exists input saturation in the dynamics of each follower agent, the global perfect consensus tracking can be realized over a finite time interval. Meanwhile, an extension to formation control has been made, and two illustrative examples certify the validness of the presented algorithms.