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Dynamic input consensus using integrators | IEEE Conference Publication | IEEE Xplore

Dynamic input consensus using integrators


Abstract:

The consensus or agreement problem enables a team of agents to agree on certain information variables using a low-bandwidth, dynamic, and sparsely-connected graph. How ev...Show More

Abstract:

The consensus or agreement problem enables a team of agents to agree on certain information variables using a low-bandwidth, dynamic, and sparsely-connected graph. How ever, most prior work on agreement protocols has focused on converging to a single, static variable. In this paper, we propose a consensus filter that accepts dynamically changing inputs at each agent. We analyze several properties of this consensus filter, proving the outputs of the filter converge to a low-pass filtered version of the average of the inputs. Disagreement portions of the inputs can be significantly attenuated through judicious selection of filter parameters.
Date of Conference: 29 June 2011 - 01 July 2011
Date Added to IEEE Xplore: 18 August 2011
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Conference Location: San Francisco, CA, USA

References

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