Table 13.

The $x$ and $y$ reference states for changing formation.

	Leader	Follower 1	Follower 2
${\mathsf{\varrho }}_x$	0	$u\left(t-25\right)+u\left(t-50\right)$	$u\left(t-25\right)$
${\mathsf{\varrho }}_y$	0	$1-u\left(t-50\right)$	$-1+u\left(t-50\right)+u\left(t-75\right)$