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 language | English |
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Pages (from-to) | 2019-2040 |
Number of pages | 22 |
Journal | International Journal of Robust and Nonlinear Control |
Volume | 25 |
Issue number | 13 |
DOIs | |
State | Published - 10 Sep 2015 |
Keywords
- consensus filter
- directed graph
- distributed estimation
- multi-agent systems
- switching topology