A decentralized observer-controller scheme for centroid and formation control with bounded control input. Antonelli, G., Arrichiello, F., Caccavale, F., & Marino, A. IFAC Proceedings Volumes, 45(26):252–257, Elsevier, 2012.
bibtex   
@article{antonelli2012decentralized,
	title        = {A decentralized observer-controller scheme for centroid and formation control with bounded control input},
	author       = {Antonelli, Gianluca and Arrichiello, Filippo and Caccavale, Fabrizio and Marino, Alessandro},
	year         = 2012,
	journal      = {IFAC Proceedings Volumes},
	publisher    = {Elsevier},
	volume       = 45,
	number       = 26,
	pages        = {252--257}
}

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