Distributed average tracking for double-integrator agents without using velocity measurements
Sheida Ghapani, Wei Ren, Fei Chen · 2015
This paper addresses distributed average tracking for a group of physical double-integrator agents under an undirected graph without using velocity measurements. We introduce a discontinuous algorithm and filter to allow the agents to track the average of time-varying signals, where each agent needs the relative positions between itself and its neighbors and its neighbors' filter outputs but the requirement for either absolute or relative velocity measurements is removed. The proposed algorithm can deal with a wide class of signals with bounded acceleration deviations. Numerical simulations are also presented to illustrate the theoretical results.