Displacement-based formation tracking control of multi-agent with size scaling

In this paper, we propose a formation control algorithm for multi-agent systems to achieve prospected formation shape and track reference trajectory. We assume the description of formation and reference velocity is known to all agents. For second-order dynamics, we present a strategy that allows all agents to maneuver to desired scaled formation during tacking leader´s movements. Finally, simulation results show that the proposed displacement-based formation tracking strategies are effective.