Distributed consensus filter on directed switching graphs

Shuai Li, Yi Guo

Research output: Contribution to journalArticlepeer-review

36 Scopus citations

Abstract

We consider distributed estimation on a directed graph with switching topologies. Motivated by a recent PI consensus filter, we modify the protocol and remove the requirement of bidirectional exchange of neighbor-ing gains for fixed topologies. We then extend the protocol to switching topologies and propose a new hybrid consensus filter design. Convergence results under both balanced directed, and general directed graphs are given for switching graphs. Consensus error bounds are analytically derived in the case of time-varying inputs. Satisfactory simulation results are shown.

Original languageEnglish
Pages (from-to)2019-2040
Number of pages22
JournalInternational Journal of Robust and Nonlinear Control
Volume25
Issue number13
DOIs
StatePublished - 10 Sep 2015

Keywords

  • consensus filter
  • directed graph
  • distributed estimation
  • multi-agent systems
  • switching topology

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