Discrete-time consensus filters on directed switching graphs

We consider discrete-time distributed estimation on a directed graph with switching topologies. Motivated by a recent PI consensus filter, we modify the protocol and remove the constraint on bi-directional information exchange and gain conditions that require global topological information. The protocol is then extended to switching topologies. Convergence results for time-invariant inputs under both balanced directed and general directed graphs are given for switching topologies. Satisfactory simulation results are shown to validate theoretical claims.