Robust dynamic average consensus of time-varying inputs

He Bai*, Randy A. Freeman, Kevin M. Lynch

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

115 Scopus citations


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.

Original languageEnglish (US)
Title of host publication2010 49th IEEE Conference on Decision and Control, CDC 2010
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781424477456
StatePublished - 2010
Event49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, United States
Duration: Dec 15 2010Dec 17 2010

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216


Conference49th IEEE Conference on Decision and Control, CDC 2010
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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