Coordination and Trajectory Tracking of Multiple Agent Systems

In this work we analize the controllability and observability properties of several interconnection configurations such as the chain topology and ring topology as well as combinations of these two topologies. A leader/follower control strategy is proposed to control the center of mass of the multiple agent system. It is shown that the trajectory tracking for a multiagent system converges to the constant input reference given only to the leader. Also, it is shown that choosing an appropiated gain, the agents achieve consensus for time varying input reference. Keywords– Multi-agent coordination, Trajectory tracking, Formation Control, Controllability, Observability.