Discrete-time dynamic average consensus

Minghui Zhu, Sonia Martínez

Research output: Contribution to journalArticlepeer-review

364 Scopus citations


We propose a class of discrete-time dynamic average consensus algorithms that allow a group of agents to track the average of their reference inputs. The convergence results rely on the input-to-output stability properties of static average consensus algorithms and require that the union of communication graphs over a bounded period of time be strongly connected. The only requirement on the set of reference inputs is that the maximum relative deviation between the nth-order differences of any two reference inputs be bounded for some integer n ≥ 1.

Original languageEnglish (US)
Pages (from-to)322-329
Number of pages8
Issue number2
StatePublished - Feb 2010

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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