Dynamic input consensus using integrators

The consensus or agreement problem enables a team of agents to agree on certain information variables using a low-bandwidth, dynamic, and sparsely-connected graph. How ever, most prior work on agreement protocols has focused on converging to a single, static variable. In this paper, we propose a consensus filter that accepts dynamically changing inputs at each agent. We analyze several properties of this consensus filter, proving the outputs of the filter converge to a low-pass filtered version of the average of the inputs. Disagreement portions of the inputs can be significantly attenuated through judicious selection of filter parameters.