Gül, EsmaGazi, Veysel2021-05-152021-05-152012978-1-4577-2072-71948-9439https://hdl.handle.net/20.500.12939/74724th Chinese Control and Decision Conference (CCDC) -- MAY 23-25, 2012 -- Taiyuan, PEOPLES R CHINAGazi, Veysel/0000-0002-4383-9215In this article we consider a class of multi-agent dynamic systems with uncertainties and the problem of moving in a predefined formation along a reference trajectory. The reference trajectory is generated by switched exosystems each of which are neutrally stable and have unknown parameters. The problem is formulated as a nonlinear servomechanism problem and an adaptive internal model based controller is used to solve this problem. Various formation maneuvers such as expansion/contraction, rotation, and reconfiguration (change of shape) are also considered. The performance of the system is verified with simple numerical simulations.eninfo:eu-repo/semantics/closedAccessMulti-Agent SystemsSwitched Exosystems Conference Object6132-s2.0-84866644841N/AWOS:000323966200018N/A