Tutorial on Dynamic Average Consensus: The Problem, Its Applications, and the Algorithms

Solmaz S. Kia*, Bryan Van Scoy, Jorge Cortes, Randy A. Freeman, Kevin M. Lynch, Sonia Martinez

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

214 Scopus citations


Technological advances in ad hoc networking and the availability of low-cost reliable computing, data storage, and sensing devices have made scenarios possible where the coordination of many subsystems extends the range of human capabilities. Smart grid operations, smart transportation, smart health care, and sensing networks for environmental monitoring and exploration in hazardous situations are just a few examples of such network operations. In these applications, the ability of a network system to (in a decentralized fashion) fuse information, compute common estimates of unknown quantities, and agree on a common view of the world is critical. These problems can be formulated as agreement problems on linear combinations of dynamically changing reference signals or local parameters. This dynamic agreement problem corresponds to dynamic average consensus, which, as discussed in "Summary," is the problem of interest of this article. The dynamic average consensus problem is for a group of agents to cooperate to track the average of locally available time-varying reference signals, where each agent is capable only of local computations and communicating with local neighbors.

Original languageEnglish (US)
Article number8716798
Pages (from-to)40-72
Number of pages33
JournalIEEE Control Systems
Issue number3
StatePublished - Jun 2019

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Electrical and Electronic Engineering


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