Multi-Agent Formation Control using Internal Model Principle

This work discusses formation control of heterogeneous Multi-Agent Systems (MASs) under discrete time setting where its formation size is scalable by a scaling factor. The communication network is assumed to be jointly connected and a leader-follower network is used such that the formation size can be adjusted by the leader agent. The proposed algorithm is based on the discrete time version of the internal model principle. Numerical examples are shown to illustrate the proposed method.