Multi-leader coordination algorithm for networks with switching topology and quantized information

Enric Xargay, Ronald Choe, Naira Hovakimyan, Isaac Kaminer

Research output: Contribution to journalArticlepeer-review


This paper analyzes the stability and convergence properties of a proportional-integral protocol for coordination of a network of agents with dynamic information flow and quantized information exchange. In the setup adopted, each agent is only required to exchange its coordination state with its neighboring agents, and the desired reference rate is only available to a group of leaders. We show that the integral term of the protocol allows the agents to learn the reference rate, rather than have it available a priori, and also provides disturbance rejection capabilities. The paper addresses the case where the graph that captures the underlying network topology is not connected during some interval of time or even fails to be connected at all times.

Original languageEnglish (US)
Pages (from-to)841-851
Number of pages11
Issue number3
StatePublished - Mar 2014


  • Consensus algorithms
  • Quantization
  • Switching topology

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


Dive into the research topics of 'Multi-leader coordination algorithm for networks with switching topology and quantized information'. Together they form a unique fingerprint.

Cite this