Distributed discrete-time coordinated tracking for networked single-integrator agents under a Markovian switching topology

This paper deals with the distributed discrete time coordinated tracking problem for multi-agent systems with Markovian switching topologies. In the multi-agent team only some of the agents can obtain the leader´s state directly. The leader´s state considered is time varying. We present necessary and sufficient conditions for boundedness of the tracking error system. It is proved that the ultimate bound of the tracking errors is proportional to the sampling period. A linear matrix inequality approach is developed to determine the allowable sampling period and the feasible control gain.