Edge-Preserving Consensus via Non-Recursive Filters: A Parallel System Design

This brief studies the edge-preserving consensus problem in discrete-time multi-agent systems. An edge-based parallel system design method is proposed for designing the channel filters, which consist of the nominal elements and the masking elements. Firstly, the design criterions for the edge-preserving protocols are provided by discussing the edge sensitivity matrix of the stuided multi-agent system. It is shown that the design of the masking element is based on the single parameter of the nominal element and the $\mathcal {H}_{\infty }$ norm of a collapsed system. Then, an algorithm for designing the heterogenous channel filters is provided, which is based on adopting a cascade realization of several subsystems.