A decentralized observer-controller scheme for centroid and formation control with bounded control input*

In this paper a decentralized observer-controller scheme that allows to control the centroid and the formation of multi-agent systems is presented. For each agent, the observer part allows to estimate the state of the overall system, while the controller part is able to calculate the input control for the given agent based on the estimated state of the system. The stability analysis is carried out in the presence of input saturation and undirected/directed topologies. Numerical simulations confirm the validity of the proposed approach.