Practical distributed coordinated tracking of second order heterogeneous linear agents: Relative measurement feedback

This paper considers the coordinated tracking problem for second order linear agents. Each agent is to follow the trajectory of a virtual leader which is a double integrator. It is assumed that the agents may have different dynamics from each other and may have external disturbances. Moreover, we consider the case where the systems are allowed to exchange only outputs rather than all states. A dynamic output feedback controller is presented to guarantee that the trajectories of agents practically synchronize to that of virtual leader.