Robust Adaptive Average Consensus Over a Time-Varying and Nonbalanced Environment

Average consensus is a fundamental problem in distributed control that still lacks a general solution when the agents face nonideal conditions and uncertain environments. This note contributes to the topic by addressing average consensus in networks of agents that: 1) interact over a time-varying and nonbalanced environment and 2) face parametric and nonparametric disturbances. It is shown that an adaptive strategy, which combines surplus variables and virtual agents, effectively solves the exact average consensus problem in this nonideal and uncertain setup. A numerical example is presented to illustrate the potential of the proposed approach.