PD-like Consensus Tracking Algorithm for Discrete Multi-Agent Systems with Time-Varying Reference State Under Binary-Valued Communication
In this paper, a new consensus tracking control algorithm is proposed for discrete multi-agent systems under binary communication with noise and a time-varying reference state. Unlike previous studies, the leader’s reference state is time-varying and convergent. Each agent estimates its neighbors’ s...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-05-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/14/6/267 |
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| Summary: | In this paper, a new consensus tracking control algorithm is proposed for discrete multi-agent systems under binary communication with noise and a time-varying reference state. Unlike previous studies, the leader’s reference state is time-varying and convergent. Each agent estimates its neighbors’ states using a recursive projection algorithm based on noisy binary-valued information. The controller design incorporates both the error between the current and estimated states and the rate of change of the estimated state, resulting in a proportional–derivative-like algorithm (PD-like algorithm). The algorithm achieves consensus tracking with a convergence rate of <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>O</mi><mo>(</mo><mn>1</mn><mo>/</mo><msup><mi>t</mi><mi>ε</mi></msup><mo>)</mo></mrow></semantics></math></inline-formula> under certain conditions. Finally, numerical simulations demonstrate the algorithm’s effectiveness and validate the theoretical results. |
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| ISSN: | 2076-0825 |