Robust Dynamic Average Consensus with Prescribed Performance

Charis J. Stamouli, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution


We consider the dynamic average consensus problem in which multiple agents cooperate in order to track the average of locally available time-varying reference signals. Within this framework, each agent is only capable of local computations and local communication with its neighbors. Hence, we propose a distributed estimation procedure that guarantees bounded tracking error, with practical asymptotic convergence at the steady state even for fast time-varying reference signals. The transient needed for the agents to reach consensus and the maximum deviation among their estimates can be set arbitrarily small a priori, via the appropriate selection of certain design parameters. Moreover, the consensus and the tracking performance are regulated independently. Finally, we validate the proposed scheme through various simulated paradigms.

Original languageEnglish (US)
Title of host publication2019 IEEE 58th Conference on Decision and Control, CDC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781728113982
StatePublished - Dec 2019
Event58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France
Duration: Dec 11 2019Dec 13 2019

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Conference58th IEEE Conference on Decision and Control, CDC 2019

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


Dive into the research topics of 'Robust Dynamic Average Consensus with Prescribed Performance'. Together they form a unique fingerprint.

Cite this