Multi-agent formation tracking with pattern size scaling by dynamic displacement feedback

This paper considers formation tracking of leader-follower multi-agent systems with scalable pattern sizes by dynamic displacement feedback. We show an attempt to encompass three sub control goals: formation control, pattern size scaling, and asymptotic trajectory tracking. Specifically, we focus on multiple single-integrator networks with a pair of leaders and set a two-layer controller network within static communication topologies. The present study comes up with an internal model principle method by incorporating a distributed pattern observer. To illustrate the proposed result, we present several numerical examples.