Information theoretic conditions for tracking in leader-follower systems with communication constraints

Inthispaper,weintroduceageneralframeworkfortrackinginleader-followersystemsundercommunicationconstraints,inwhichtheleaderandfollowersystemsaswellasthecorrespondingcontrollersarespatiallydistributedandconnectedovercommunicationlinks.Weprovidenecessaryconditionsonthechanneldatarateofeachcommunicationlinkfortrackingoftheleader-followersystems.Byconsideringtheforwardandfeedbackchannelsasonecascadechannel,wealsoprovidealowerboundforthedatarateofthecascadechannelforthesystemtotrackareferencesignalsuchthatthetrackingerrorhasfinitesecondmoment.Examplesandsimulationsareprovidedtodemonstratesomeoftheresults.