Consensus Tracking with a Reference State

Abstract

This chapter studies consensus tracking algorithms for single-integrator dynamics, where the information states of all vehicles approach a constant or time-varying consensus reference state. We first propose and analyze a consensus tracking algorithm with a constant consensus reference state. We then propose consensus tracking algorithms with a time-varying consensus reference state and show conditions under which consensus is reached on the time-varying consensus reference state in four cases, a directed fixed interaction topology, a directed switching interaction topology, bounded control inputs, and vehicle information feedback. The time-varying consensus reference state may be an exogenous signal or evolve according to a nonlinear model. These consensus tracking algorithms are also extended to achieve relative state deviations between vehicles.