Tracking control for first-order multi-agent systems

In this paper, the conventional tracking control problem is expanded to first-order multi-agent systems, which can be solved by directly guiding any agent in the group. The following three kinds of desired motions are considered for all agents to track: 1) stillness in space, 2) variable motion with known acceleration, 3) variable motion with partly unknown acceleration. Specifically, fixed networks with time delays and switching networks without delays are both considered in case 1). Switching networks with and without time delays are both studied in case 2), while for 3), switching networks without delays are mainly investigated. A numerical simulation example is included to illustrate the results.