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.

中文翻译：

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具有输入饱和的二阶非线性多智能体系统的全分布式协调学习控制

本文开发了输入饱和的二阶非线性多智能体系统的协调学习控制。设计了具有完全饱和参数自适应更新规律的完全分布式学习共识协议。尽管每个跟随代理的动态存在输入饱和，但可以在有限的时间间隔内实现全局完美共识跟踪。同时，对编队控制进行了扩展，两个说明性示例证明了所提出算法的有效性。