Distributed Average Tracking for Heterogeneous Multi-Agent Systems

This paper studies the distributed average tracking problem for heterogeneous multi-agent systems with bounded derivatives reference signals. Two types of DAT signal estimators are devised for reference signals mentioned above by using the symbolic function method. It is proved that the estimator can eventually obtain to the average value of reference signals. Then, by using the output regulation techniques, a class of DAT control law is proposed such that the output of each agent tracks the average value of multiple reference signals. Finally, some simulation results are shown to prove the effectiveness of the proposed control law.