Consensus Tracking Algorithm for Multi-Agent Systems with Binary-Valued Measurements
Zhuangzhuang Qiu, Zhipeng Ren, Ting Wang · 2022
In this work, the tracking control problem of linear discrete time multi-agent systems(MAS) Under the conditions of binary-valued directed communication is studied. Unlike most studies, the transmitting signals in a network topology a binary-valued message with random noise to change its own state. A novel tracking convergence algorithm is designed: First, each follower obtains the estimated state of the neighbor through online algorithms. Second, each follower updates the status in time based on the estimates. We use a new Lyapunov function to analyze the stability of the MAS. In addition, agents can track the leader agent in time, and the fastest tracking rate can reach O(1/k) through the design parameters. Finally, the feasibility of the algorithm is demonstrated by simulation.