Consensus tracking with a reference state using discrete-time algorithms

In this paper, we investigate the problem of consensus tracking with a reference state using discrete-time algorithm. We analyze two cases: 1) directed networks with fixed topology; and 2) directed networks with communication time-delays and fixed topology. We introduce two discrete-time consensus tracking protocols for networks with and without time-delays, and then present the conditions that the protocol solves the consensus tracking problem. Finally, simulations are provided that show the efficiency of these results.