Two distributed protocols built from a cofactor-weighted mirror graph achieve signed-average consensus on strongly connected signed digraphs if and only if the digraph is structurally balanced, with a nonlinear fixed-time variant.
Some necessary and sufficient c on- ditions for second-order consensus in multi-agent dynamic al systems,
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Distributed Averaging Problems over Directed Signed Networks
Two distributed protocols built from a cofactor-weighted mirror graph achieve signed-average consensus on strongly connected signed digraphs if and only if the digraph is structurally balanced, with a nonlinear fixed-time variant.