Discrete-time dynamic average consensus

Wepropose 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. © 2009 Elsevier Ltd. All rights reserved.