Controllability and observability of leader-based multi-agent systems

In this work we analyze the controllability and observability properties of several interconnection configurations such as the chain topology and cyclic 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 multi-agent system converges to the constant input reference given only to the leader. Also, it is shown that choosing an appropriated gain, the agents achieve consensus for constant input reference.