Adaptive Formation Tracking Control for First-Order Agents With a Time-Varying Flow Parameter

A novel adaptive method to achieve both path following and formation moving along desired orbits in the presence of a spatio-temporal flowfield is presented. The general flow with unknown time-varying parameters. so-called \emph{congelation variables} used estimate parameters, which do not have any restrictions on rate their variation. asymptotic properties resulting system are studied detail. Simulation results demonstrate effectiveness proposed method.