Average-consensus filter problem of assigned constant inputs is investigated for the first-order multi-agent systems with heterogeneous disturbances, and a proportional-integral consensus filter algorithm accompanied with disturbances' observers is designed. By using matrix theory and frequency-domain analysis, sufficient and necessary convergence conditions are obtained for our proposed algorithm without and with identical communication delay, respectively. Numerical simulations illustrate the correctness of theoretical results.
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Liu et al. (2017) studied this question.
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