Sampled Tracking with a Changing Roster

Abstract

We study a sampled reference controller on a finite set of nominal double integrators with changing logical participation. A correct reference service, coherent delayed physical tables, a common clock, and a constrained translation latch are specified as resources. An error estimate accounts for disturbance integrals, goal changes, admission state, snapshot age, and projection error. A weighted event budget gives a tracking bound without requiring participation eventually to become fixed. Separate convex-cell assumptions give continuous separation, speed, and acceleration bounds for all bodies, including inactive bodies. Under a supplied finite service discipline, a delayed-observation gate permits repeated logical reinitialization and readmission of the same bodies without accumulating bodies or workspace. Uniform operational storage additionally requires bounded message production, frame sizes, lifetime, and serviced queues. A convergent quiet tail gives eventual latch freeze under the stated contraction condition. These are conditional results for fixed task coordinates, reserved operating cells, exact local feedback, and correct services; numerical and physical realization remain separate questions.