Extensions to a Reference Model

Abstract

This chapter extends the consensus algorithms for double-integrator dynamics in Chapter 4 to a reference model. We first consider consensus algorithms that ensure that the derivatives of the information states follow a reference. Both strategies with and without coupling between neighbors’ information state derivatives are addressed. We then consider consensus algorithms that ensure that the information states and their derivatives evolve according to a reference model. Three strategies, full access to the reference model, leader-following strategy, and partial access to the reference model, are addressed.