Consensus Based Least Squares Estimation for Single-Integrator Multi-Agent Systems with a Time-Varying Reference State

This paper discusses consensus tracking of single-integrator multi-agent systems with a time varying reference state based on the least squares estimation theory to deal with the case of communications disturbance.Since none of the followers can communicate with the leader within the accepted time due to communications disturbance, least squares estimation is applied for online estimation of the time varying reference state and reducing the tracking errors occurred due to communications disturbance. A theoretical proof is provided under some assumptions while the necessary and sufficient conditions are demonstrated for which consensus is reached on the time-varying reference state in case of communications disturbance. Finally, a Matlab example is given to validate the effectiveness of the proposed approach.