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In the typical multiagent formation tracking problem centered on consensus,the prevailing assumption in the literature is that the agents' nonlinearmodels can be approximated by integrator systems, by their feedback-linearizedequivalents, or by dynamics composed of deterministic linear and nonlinearterms. The resulting approaches associated with such assumptions, however, arehardly applicable to general nonlinear systems. To this end, we presentconsensus-based control laws for multiagent formation tracking infinite-dimensional state space, with the agents represented by a more generalclass of dynamics: control-affine nonlinear systems. The agents also exchangeinformation via a leader-follower communication topology modeled as anundirected and connected graph with a single leader node. By leveragingstandard tools from algebraic graph theory and Lyapunov analysis, we firstderive a locally asymptotically stabilizing formation tracking law. Next, todemonstrate the effectiveness of our approach, we present results fromnumerical simulations of an example in robotics. These results -- together witha comparison of the formation errors obtained with our approach and thoserealized via an optimization-based method -- further validate our theoreticalpropositions.

Consensus-Based Leader-Follower Formation Tracking for Control-Affine Nonlinear Multiagent Systems