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Discrete-time dynamic average consensus. (English) Zbl 1205.93014
Summary: 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 is strongly connected. The only requirement on the set of reference inputs is that the maximum relative deviation between the $$n$$th-order differences of any two reference inputs is bounded for some integer $$n\geq 1$$.

##### MSC:
 93A14 Decentralized systems 93C55 Discrete-time control/observation systems 93D25 Input-output approaches in control theory
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