A Distributed Algorithm for Tracking General Functions in Disturbed Multi-agent Systems

This paper tackles the challenge of tracking general functions of multiple signals within disturbed first-order multi-agent systems. In this context, a team of agents collaboratively monitors time-varying signals, even when disturbances disrupt the dynamics of the single-integrator agent. Each agent relies on locally available information from its neighboring agents. The paper establishes conditions for the gain parameters, reference signals, and functions, ensuring the attainability of the tracking objective. The proposed system demonstrates its ability to track various functions of time-varying signals, including arithmetic mean, geometric mean, and root-mean square. Simulation results provide empirical validation of the algorithm’s effectiveness.