Distributed consensus filter on directed switching graphs

Shuai Li, Y.i. Guo

Research output: Journal article publicationJournal articleAcademic researchpeer-review


We consider distributed estimation on a directed graph with switching topologies. Motivated by a recent PI consensus filter, we modify the protocol and remove the requirement of bidirectional exchange of neighboring gains for fixed topologies. We then extend the protocol to switching topologies and propose a new hybrid consensus filter design. Convergence results under both balanced directed, and general directed graphs are given for switching graphs. Consensus error bounds are analytically derived in the case of time-varying inputs. Satisfactory simulation results are shown.
Original languageEnglish
Pages (from-to)2019-2040
Number of pages22
JournalInternational Journal of Robust and Nonlinear Control
Issue number13
Publication statusPublished - 2014


  • Multi-agent systems
  • Distributed estimation
  • Consensus filter
  • Directed graph
  • Switching topology

ASJC Scopus subject areas

  • Chemical Engineering(all)
  • Aerospace Engineering
  • Biomedical Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

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