Distributed Multi-Leader Formation Tracking Within a Weight-Unbalanced Directed Network of Multiple Agents

This paper investigates the problem of distributed multi-leader formation tracking of a multi-agent system within a directed network that may be weight-unbalanced. We propose distributed formation tracking algorithms with offline estimators. Under the assumptions that the communication network of the follower agents is strongly connected and each leader agent is accessible by at least one follower agent, all follower agents asymptotically track the center of the leader agents with a time-varying formation offset. Simulation is performed to substantiate the theoretical conclusion.