Distributed Discrete-time Consensus with a Time-varying Reference State
Yongcan Cao, Wei Ren, Yan Li · AIAA Guidance, Navigation, and Control Conference and Exhibit · 2008
This paper studies a PD-like discrete-time consensus algorithm with a time-varying reference state that is available to only a subset of the team members. We 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 error. It is shown that the bound of the tracking error is proportional to the sampling period. The beneflt of the proposed PDlike discrete-time consensus algorithm is also demonstrated through comparison with an existing P-like discrete-time consensus algorithm. Finally, simulation results are presented as a proof of concept.