Dynamic average consensus via nonlinear protocols

This paper addresses the dynamic average consensus problem under nonlinear protocols for networks of dynamic agents. In this problem, each agent aims to track the average of time-varying reference inputs of all the agents in the network by local communication with neighbors. We propose a class of continuous-time nonlinear protocols for this problem, and theoretical analyses for two cases are provided: (1) undirected networks with switching topologies and (2) balanced directed networks with switching topologies. Based upon the analysis results, design procedures for nonlinear protocols are presented. Simulations are also provided to demonstrate the effectiveness of the proposed design procedures.