TY - GEN
T1 - Robust dynamic average consensus of time-varying inputs
AU - Bai, He
AU - Freeman, Randy A
AU - Lynch, Kevin M
PY - 2010/12/1
Y1 - 2010/12/1
N2 - We consider the dynamic average consensus problem in which each agent in a network has access to its own local input signal, but it must compute and track the average of all such inputs. Each agent communicates only with neighbors in the network, and local communication, computation and memory requirements should be independent of the number of the agents in the network. The Proportional-Integral (PI) estimator in [1] guarantees zero steady-state error under constant inputs for constant, connected, and balanced networks, even in the presence of estimator initialization errors. In this work, we employ the internal model principle to generalize the PI estimator so that it achieves zero steady-state error for classes of time-varying inputs, including polynomial inputs of known order and sinusoidal inputs with known frequencies. Like the PI estimator, our new estimator is robust to initialization errors.
AB - We consider the dynamic average consensus problem in which each agent in a network has access to its own local input signal, but it must compute and track the average of all such inputs. Each agent communicates only with neighbors in the network, and local communication, computation and memory requirements should be independent of the number of the agents in the network. The Proportional-Integral (PI) estimator in [1] guarantees zero steady-state error under constant inputs for constant, connected, and balanced networks, even in the presence of estimator initialization errors. In this work, we employ the internal model principle to generalize the PI estimator so that it achieves zero steady-state error for classes of time-varying inputs, including polynomial inputs of known order and sinusoidal inputs with known frequencies. Like the PI estimator, our new estimator is robust to initialization errors.
UR - http://www.scopus.com/inward/record.url?scp=79953140687&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79953140687&partnerID=8YFLogxK
U2 - 10.1109/CDC.2010.5717485
DO - 10.1109/CDC.2010.5717485
M3 - Conference contribution
AN - SCOPUS:79953140687
SN - 9781424477456
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 3104
EP - 3109
BT - 2010 49th IEEE Conference on Decision and Control, CDC 2010
T2 - 2010 49th IEEE Conference on Decision and Control, CDC 2010
Y2 - 15 December 2010 through 17 December 2010
ER -