Multi-tracking of second-order multi-agent systems using impulsive control

This paper investigates the multi-tracking of second-order multi-agent systems. A distributed impulsive protocol is designed to solve the multi-tracking problem, which utilizes only position sampled data of the agents and the desired trajectories. In the context of constant desired velocities, a necessary and sufficient condition on feedback gains and sampling period is obtained to guarantee uniform multi-tracking. In the context of time-varying desired velocities, multi-agent systems can reach bounded variable multi-tracking, in which the ultimate tracking error is proportional to the sampling period. Simulation examples are given to illustrate the theoretical analysis.