Leader-following control of second-order integrator systems using binary information

In this paper, we solve a leader-following problem for second-order integrator systems using only binary relative position and velocity measurements. The leader is allowed to be dynamically evolving with a bounded acceleration which is unknown to any of the followers. By properly choosing the control gains, we prove that despite the fact that only very coarse relative information is available, the leader-following problem can still be solved by the proposed distributed controller. A simulation example is provided to illustrate the results.