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Zbl 1162.93004
Cao, Yongcan; Ren, Wei; Li, Yan
Distributed discrete-time coordinated tracking with a time-varying reference state and limited communication. (English)
[J] Automatica 45, No. 5, 1299-1305 (2009). ISSN 0005-1098

Summary: This paper studies a distributed discrete-time coordinated tracking problem where a team of vehicles communicating with their local neighbors at discrete-time instants tracks a time-varying reference state available to only a subset of the team members. We propose a PD-like discrete-time consensus algorithm to address the problem under a fixed communication graph. We then study the condition on the communication graph, the sampling period, and the control gain to ensure stability and give the quantitative bound of the tracking errors. It is shown that the ultimate bound of the tracking errors is proportional to the sampling period. The benefit of the proposed PD-like discrete-time consensus algorithm is also demonstrated through comparison with an existing P-like discrete-time consensus algorithm. Simulation results are presented as a proof of concept.

MSC 2000:: *93A14 Decentralized systems
93C55 Discrete-time control systems
94C15 Appl. of graph theory to circuits and networks

Keywords: coordinated tracking; discrete-time consensus; cooperative control; multi-agent systems

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