{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2014:MWR5SHGAGCYG7WHXXYLJP4ZWE5","short_pith_number":"pith:MWR5SHGA","canonical_record":{"source":{"id":"1410.7496","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2014-10-28T02:42:07Z","cross_cats_sorted":[],"title_canon_sha256":"bd2506383b4a27e97887c7b0b3258a2363b5dc47ab9c6f10f4bb76078bc1bcd2","abstract_canon_sha256":"5da744f8b41e55f71f6c02a8c94329ee482ab29c54ca3f514881f8fe9c817c43"},"schema_version":"1.0"},"canonical_sha256":"65a3d91cc030b06fd8f7be1697f336274050d23e361709e39d52899969d29f87","source":{"kind":"arxiv","id":"1410.7496","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1410.7496","created_at":"2026-05-18T02:28:11Z"},{"alias_kind":"arxiv_version","alias_value":"1410.7496v2","created_at":"2026-05-18T02:28:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1410.7496","created_at":"2026-05-18T02:28:11Z"},{"alias_kind":"pith_short_12","alias_value":"MWR5SHGAGCYG","created_at":"2026-05-18T12:28:38Z"},{"alias_kind":"pith_short_16","alias_value":"MWR5SHGAGCYG7WHX","created_at":"2026-05-18T12:28:38Z"},{"alias_kind":"pith_short_8","alias_value":"MWR5SHGA","created_at":"2026-05-18T12:28:38Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2014:MWR5SHGAGCYG7WHXXYLJP4ZWE5","target":"record","payload":{"canonical_record":{"source":{"id":"1410.7496","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2014-10-28T02:42:07Z","cross_cats_sorted":[],"title_canon_sha256":"bd2506383b4a27e97887c7b0b3258a2363b5dc47ab9c6f10f4bb76078bc1bcd2","abstract_canon_sha256":"5da744f8b41e55f71f6c02a8c94329ee482ab29c54ca3f514881f8fe9c817c43"},"schema_version":"1.0"},"canonical_sha256":"65a3d91cc030b06fd8f7be1697f336274050d23e361709e39d52899969d29f87","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T02:28:11.494136Z","signature_b64":"3wShmZEKIllnuSa5ZVNBcZqmjVU2I2EwVRiZNapU+GZPbdUBniOBp4ogAQEV2Z+9Ap9BZqpYTQvl37nUYPQ3CA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"65a3d91cc030b06fd8f7be1697f336274050d23e361709e39d52899969d29f87","last_reissued_at":"2026-05-18T02:28:11.493529Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T02:28:11.493529Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1410.7496","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T02:28:11Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"J78j22ANrC2sm4dlqMrfJ4yjkOpeQDIIKHLgNybYkMFvzZThDYvY5p29RHV59Aq+O0zxMREeytRtJAr3NsaXBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T03:34:26.947137Z"},"content_sha256":"63093e526e875565be5f4289a329bd8ec124cf2bbad3e2f982699b3e632e03dd","schema_version":"1.0","event_id":"sha256:63093e526e875565be5f4289a329bd8ec124cf2bbad3e2f982699b3e632e03dd"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2014:MWR5SHGAGCYG7WHXXYLJP4ZWE5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Distributed Adaptive Consensus Protocols for Linear Multi-agent Systems with Directed Graphs and External Disturbances","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.SY","authors_text":"Zhisheng Duan, Zhongkui Li","submitted_at":"2014-10-28T02:42:07Z","abstract_excerpt":"This paper addresses the distributed consensus design problem for linear multi-agent systems with directed communication graphs and external disturbances. Both the cases with strongly connected communication graphs and leader-follower graphs containing a directed spanning tree with the leader as the root are discussed. Distributed adaptive consensus protocols based on the relative states of neighboring agents are designed, which can ensure the ultimate boundedness of the consensus error and adaptive gains in the presence of external disturbances. The upper bounds of the consensus error are fur"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1410.7496","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T02:28:11Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OLh6KMSiyorjzpgf3C9UQoeM57WpPl+MzeX1/X69pq395Kc4Or8tnG41nYM6CuMldDUtPnB7+YVW890XRrf/BA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T03:34:26.947494Z"},"content_sha256":"27656a997ff578ad555e716994d85c6eee7808fa945369d36220aa19c836d697","schema_version":"1.0","event_id":"sha256:27656a997ff578ad555e716994d85c6eee7808fa945369d36220aa19c836d697"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/MWR5SHGAGCYG7WHXXYLJP4ZWE5/bundle.json","state_url":"https://pith.science/pith/MWR5SHGAGCYG7WHXXYLJP4ZWE5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/MWR5SHGAGCYG7WHXXYLJP4ZWE5/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-06-01T03:34:26Z","links":{"resolver":"https://pith.science/pith/MWR5SHGAGCYG7WHXXYLJP4ZWE5","bundle":"https://pith.science/pith/MWR5SHGAGCYG7WHXXYLJP4ZWE5/bundle.json","state":"https://pith.science/pith/MWR5SHGAGCYG7WHXXYLJP4ZWE5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/MWR5SHGAGCYG7WHXXYLJP4ZWE5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2014:MWR5SHGAGCYG7WHXXYLJP4ZWE5","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"5da744f8b41e55f71f6c02a8c94329ee482ab29c54ca3f514881f8fe9c817c43","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2014-10-28T02:42:07Z","title_canon_sha256":"bd2506383b4a27e97887c7b0b3258a2363b5dc47ab9c6f10f4bb76078bc1bcd2"},"schema_version":"1.0","source":{"id":"1410.7496","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1410.7496","created_at":"2026-05-18T02:28:11Z"},{"alias_kind":"arxiv_version","alias_value":"1410.7496v2","created_at":"2026-05-18T02:28:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1410.7496","created_at":"2026-05-18T02:28:11Z"},{"alias_kind":"pith_short_12","alias_value":"MWR5SHGAGCYG","created_at":"2026-05-18T12:28:38Z"},{"alias_kind":"pith_short_16","alias_value":"MWR5SHGAGCYG7WHX","created_at":"2026-05-18T12:28:38Z"},{"alias_kind":"pith_short_8","alias_value":"MWR5SHGA","created_at":"2026-05-18T12:28:38Z"}],"graph_snapshots":[{"event_id":"sha256:27656a997ff578ad555e716994d85c6eee7808fa945369d36220aa19c836d697","target":"graph","created_at":"2026-05-18T02:28:11Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"paper":{"abstract_excerpt":"This paper addresses the distributed consensus design problem for linear multi-agent systems with directed communication graphs and external disturbances. Both the cases with strongly connected communication graphs and leader-follower graphs containing a directed spanning tree with the leader as the root are discussed. Distributed adaptive consensus protocols based on the relative states of neighboring agents are designed, which can ensure the ultimate boundedness of the consensus error and adaptive gains in the presence of external disturbances. The upper bounds of the consensus error are fur","authors_text":"Zhisheng Duan, Zhongkui Li","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2014-10-28T02:42:07Z","title":"Distributed Adaptive Consensus Protocols for Linear Multi-agent Systems with Directed Graphs and External Disturbances"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1410.7496","kind":"arxiv","version":2},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:63093e526e875565be5f4289a329bd8ec124cf2bbad3e2f982699b3e632e03dd","target":"record","created_at":"2026-05-18T02:28:11Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"5da744f8b41e55f71f6c02a8c94329ee482ab29c54ca3f514881f8fe9c817c43","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2014-10-28T02:42:07Z","title_canon_sha256":"bd2506383b4a27e97887c7b0b3258a2363b5dc47ab9c6f10f4bb76078bc1bcd2"},"schema_version":"1.0","source":{"id":"1410.7496","kind":"arxiv","version":2}},"canonical_sha256":"65a3d91cc030b06fd8f7be1697f336274050d23e361709e39d52899969d29f87","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"65a3d91cc030b06fd8f7be1697f336274050d23e361709e39d52899969d29f87","first_computed_at":"2026-05-18T02:28:11.493529Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T02:28:11.493529Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3wShmZEKIllnuSa5ZVNBcZqmjVU2I2EwVRiZNapU+GZPbdUBniOBp4ogAQEV2Z+9Ap9BZqpYTQvl37nUYPQ3CA==","signature_status":"signed_v1","signed_at":"2026-05-18T02:28:11.494136Z","signed_message":"canonical_sha256_bytes"},"source_id":"1410.7496","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:63093e526e875565be5f4289a329bd8ec124cf2bbad3e2f982699b3e632e03dd","sha256:27656a997ff578ad555e716994d85c6eee7808fa945369d36220aa19c836d697"],"state_sha256":"74dc1d4df7c714f3da12dce278f886595026acc1edd774cbd0bd70ad286940f2"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FfAOskt5K1q27aC3xIRPuxzB7r1YnJi3gD60zD68Fp33hhiyTVtPz48SwrBfOfpnwVHTusJNHOOs/NXK7lVyDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-01T03:34:26.949515Z","bundle_sha256":"43f313e397ce3e80bfb648701cc1ed4785d2d7e01a9c48a19d9721c0b7491238"}}