期刊
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
卷 25, 期 13, 页码 2019-2040出版社
WILEY
DOI: 10.1002/rnc.3187
关键词
multi-agent systems; distributed estimation; consensus filter; directed graph; switching topology
资金
- National Science Foundation [IIS-1218155, CNS-1318748]
- Div Of Information & Intelligent Systems
- Direct For Computer & Info Scie & Enginr [1218155] Funding Source: National Science Foundation
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 neighboring 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. Copyright (C) 2014 John Wiley & Sons, Ltd.
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