Centaurus A is the closest radio-loud active galaxy. Very Long Baseline Interferometry (VLBI) enables us to study the jet-counterjet system on milliarcsecond (mas) scales, providing essential information for jet emission and propagation models. We study the evolution of the central parsec jet structure of Cen A over 3.5 years. The proper motion analysis of individual jet components allows us to constrain jet formation and propagation and to test the proposed correlation of increased high energy flux with jet ejection events. Cen A is an exceptional laboratory for such detailed study as its proximity translates to unrivaled linear resolution, where 1 mas corresponds to 0.018 pc. The first 7 epochs of high-resolution TANAMI VLBI observations at 8 GHz of Cen A are presented, resolving the jet on (sub-)mas scales. They show a differential motion of the sub-pc scale jet with significantly higher component speeds further downstream where the jet becomes optically thin. We determined apparent component speeds within a range of 0.1c to 0.3c, as well as identified long-term stable features. In combination with the jet-to-counterjet ratio we can constrain the angle to the line of sight to ~12{deg} to 45{deg}. The high resolution kinematics are best explained by a spine-sheath structure supported by the downstream acceleration occurring where the jet becomes optically thin. On top of the underlying, continuous flow, TANAMI observations clearly resolve individual jet features. The flow appears to be interrupted by an obstacle causing a local decrease in surface brightness and a circumfluent jet behavior. We propose a jet-star interaction scenario to explain this appearance. The comparison of jet ejection times with high X-ray flux phases yields a partial overlap of the onset of the X-ray emission and increasing jet activity, but the limited data do not support a robust correlation.
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