An internal model-based discrete-time dynamic average consensus estimator

The dynamic average consensus problem for a group of agents is considered. Each agent is supposed to estimate the average of inputs applied to all agents in a distributed manner. A new structure for the distributed average estimator which can embed the internal model of inputs is proposed. Constructive design procedures are also given for the cases with constant inputs and time-varying inputs. The proposed estimator is validated via numerical simulations.

[1]  Lihua Xie,et al.  Quantized Leaderless and Leader-Following Consensus of High-Order Multi-Agent Systems With Limited Data Rate , 2016, IEEE Transactions on Automatic Control.

[2]  Wei Ren,et al.  Distributed parameter estimation under unreliable directed networks , 2015, 2015 54th IEEE Conference on Decision and Control (CDC).

[3]  Jorge Cortes,et al.  Dynamic average consensus under limited control authority and privacy requirements , 2014, 1401.6463.

[4]  Reza Olfati-Saber,et al.  Distributed Kalman filtering for sensor networks , 2007, 2007 46th IEEE Conference on Decision and Control.

[5]  Sonia Martínez,et al.  Robust discrete time dynamic average consensus , 2014, Autom..

[6]  Richard M. Murray,et al.  Decentralised minimal-time dynamic consensus , 2012, 2012 American Control Conference (ACC).

[7]  Zongli Lin,et al.  Low gain feedback , 1999 .

[8]  Wei Ren,et al.  Distributed Continuous-Time Convex Optimization With Time-Varying Cost Functions , 2017, IEEE Transactions on Automatic Control.

[9]  Jay A. Farrell,et al.  Distributed Continuous-Time Optimization: Nonuniform Gradient Gains, Finite-Time Convergence, and Convex Constraint Set , 2017, IEEE Transactions on Automatic Control.

[10]  Sonia Martínez,et al.  Discrete-time dynamic average consensus , 2010, Autom..

[11]  He Bai,et al.  A two-time-scale dynamic average consensus estimator , 2016, 2016 IEEE 55th Conference on Decision and Control (CDC).

[12]  Jemin George.  Networked Sensing and Distributed Kalman-Bucy Filtering Based on Dynamic Average Consensus , 2013, 2013 IEEE International Conference on Distributed Computing in Sensor Systems.

[13]  Bruce A. Francis,et al.  The internal model principle of control theory , 1976, Autom..

[14]  Naomi Ehrich Leonard,et al.  Stabilization of Planar Collective Motion With Limited Communication , 2008, IEEE Transactions on Automatic Control.

[15]  Mohammad Bagher Menhaj,et al.  Dynamic average consensus via nonlinear protocols , 2012, Autom..

[16]  Andrea Gasparri,et al.  Multi-stage discrete time dynamic average consensus , 2016, 2016 IEEE 55th Conference on Decision and Control (CDC).

[17]  Carlos Sagüés,et al.  Distributed Consensus on Robot Networks for Dynamically Merging Feature-Based Maps , 2012, IEEE Transactions on Robotics.

[18]  Hyungbo Shim,et al.  Disc margins of the discrete-time LQR and its application to consensus problem , 2012, Int. J. Syst. Sci..

[19]  R. Olfati-Saber,et al.  Consensus Filters for Sensor Networks and Distributed Sensor Fusion , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[20]  Reza Olfati-Saber,et al.  Consensus and Cooperation in Networked Multi-Agent Systems , 2007, Proceedings of the IEEE.

[21]  Sonia Martínez,et al.  Singularly perturbed algorithms for dynamic average consensus , 2013, 2013 European Control Conference (ECC).

[22]  Peng Yang,et al.  Stability and Convergence Properties of Dynamic Average Consensus Estimators , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[23]  Jorge Cortés,et al.  Distributed Kriged Kalman Filter for Spatial Estimation , 2009, IEEE Transactions on Automatic Control.

[24]  Randy A. Freeman,et al.  Multi-Agent Coordination by Decentralized Estimation and Control , 2008, IEEE Transactions on Automatic Control.

[25]  Richard M. Murray,et al.  DYNAMIC CONSENSUS FOR MOBILE NETWORKS , 2005 .

[26]  Sonia Martínez,et al.  Step size analysis in discrete-time dynamic average consensus , 2014, 2014 American Control Conference.

[27]  Randy A. Freeman,et al.  Robust dynamic average consensus of time-varying inputs , 2010, 49th IEEE Conference on Decision and Control (CDC).

[28]  Carlos Sagüés,et al.  Dynamic consensus for merging visual maps under limited communications , 2010, 2010 IEEE International Conference on Robotics and Automation.

[29]  K. Lynch,et al.  DIstributed Kalman Filtering Using The Internal Model Average Consensus Estimator , 2011, Proceedings of the 2011 American Control Conference.