Trajectory tracking and consensus of SISO linear multi-agent systems with formation changes

In this paper, a decentralized control scheme for group formation and trajectory tracking of multi-agent systems is designed. In this scheme, each agent dynamics is represented by a single-input single-output linear system- and the information that each controller requires is only the output of the others agents. With the proposed decentralized control law, multiagent system tracks asymptotically the trajectory and formation of the agents, even in the presence of smooth changes of formations. Moreover, the agent dynamics (structure and dimension) are not restricted to be the same, as usually assumed in the literature. A simulation example is provided in order to illustrate the application of the proposed control.