Distributed average tracking for double-integrator agents without using velocity measurements

This paper addresses distributed average tracking for a group of physical double-integrator agents under an undirected graph without using velocity measurements. We introduce a discontinuous algorithm and filter to allow the agents to track the average of time-varying signals, where each agent needs the relative positions between itself and its neighbors and its neighbors´ filter outputs but the requirement for either absolute or relative velocity measurements is removed. The proposed algorithm can deal with a wide class of signals with bounded acceleration deviations. Numerical simulations are also presented to illustrate the theoretical results.