Consensus tracking algorithms with estimation for multi-agent system

In this paper, we discuss the stability of consensus tracking problem of multi-agent system with communication failure. We present a control law with estimation to reduce the tracking error of single-integrator and double-integrator leader-following consensus. A sufficient condition to reduce the consensus tracking error with communication failure is derived for directed fixed topologies having spanning tree. Finally, we present two simulations, the first is designed to validate control law for single-integrator dynamics and the second is for double-integrator dynamics.