Discrete‐Time Consensus Filters for Average Tracking of Time‐Varying Inputs on Directed Switching Graphs |
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Authors: | Shuai Li Yi Guo |
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Affiliation: | 1. Department of Computing, Hong Kong Polytechnic University, Hung Hom, KL, Hong Kong;2. Department of Electrical and Computer Engineering, Stevens Institute of Technology, Hoboken, NJ, USA |
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Abstract: | In this paper, we consider discrete‐time distributed estimation on a directed graph with switching topologies. Motivated by a recent PI consensus filter, we modify the protocol and remove the limitation of undirected graph and gain conditions with requirement for global topological information. The protocol is then extended to switching topologies. Convergence analysis is conducted for constant inputs under both balanced directed and general directed graphs with topological switching. Then, the result is extended to all cases for time‐varying inputs with an analytical derivation of the error bound. Satisfactory simulation results are shown to validate theoretical claims. |
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Keywords: | Discrete‐time consensus consensus filters average tracking time‐varying inputs directed graphs switching graphs |
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