Discrete-Time Consensus Filters for Average Tracking of Time-Varying Inputs on Directed Switching Graphs

Shuai Li, Yi Guo

Research output: Journal article publicationJournal articleAcademic researchpeer-review

2 Citations (Scopus)


In this paper, we consider discrete-time distributed estimation on a directed graph with switching topologies. Motivated by a recent PI consensus filter, we modify the protocol and remove the limitation of undirected graph and gain conditions with requirement for global topological information. The protocol is then extended to switching topologies. Convergence analysis is conducted for constant inputs under both balanced directed and general directed graphs with topological switching. Then, the result is extended to all cases for time-varying inputs with an analytical derivation of the error bound. Satisfactory simulation results are shown to validate theoretical claims.

Original languageEnglish
Pages (from-to)919-934
Number of pages16
JournalAsian Journal of Control
Issue number2
Publication statusPublished - 1 Mar 2018


  • average tracking
  • consensus filters
  • directed graphs
  • Discrete-time consensus
  • switching graphs
  • time-varying inputs

ASJC Scopus subject areas

  • Control and Systems Engineering

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