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This paper addresses distributed average tracking for a group of physicaldouble-integrator agents under an undirected graph with reduced requirement onvelocity measurements. The idea is that multiple agents track the average ofmultiple time-varying input signals, each of which is available to only oneagent, under local interaction with neighbors. We consider two cases. First, adistributed discontinuous algorithm and filter are proposed, where each agentneeds the relative positions between itself and its neighbors and itsneighbors' filter outputs obtained through communication but the requirementfor either absolute or relative velocity measurements is removed. The agents'positions and velocities must be initialized correctly, but the algorithm candeal with a wide class of input signals with bounded acceleration deviations.Second, a distributed discontinuous algorithm and filter are proposed to removethe requirement for communication and accurate initialization. Here each agentneeds to measure the relative position between itself and its neighbors and itsown velocity but the requirement for relative velocity measurements betweenitself and its neighbors is removed. The algorithm can deal with the case wherethe input signals and their velocities and accelerations are all bounded.Numerical simulations are also presented to illustrate the theoretical results.

Distributed Average Tracking for Double-integrator Multi-agent Systems with Reduced Requirement on Velocity Measurements