Consensus with quantized relative state measurements

• Published in: Automatica (Oxford) Vol. 49; no. 8; pp. 2531 - 2537
• Main Authors: Guo, Meng, Dimarogonas, Dimos V.
• Format: Journal Article
• Language: English
• Published: Kidlington Elsevier Ltd 01.08.2013; Elsevier
• Subjects: Adaptative systems; Agents (artificial intelligence); Applied sciences; Artificial intelligence; Computer science; control theory; systems; Computer simulation; Computer systems and distributed systems. User interface; Consensus; Control system analysis; Control theory. Systems; Convergence; Cooperative control; Counters; Dynamical systems; Exact sciences and technology; Expert systems; Multi-agent systems; Nonsmooth Analysis; Quantization; Software; Topology; Quantization; Nonsmooth Analysis; Consensus; Multi-agent systems; Second order equation; Logarithmic function; Computer simulation; Data transmission; Distributed system; Topology; Adaptive control; Time varying system; Multiagent system; Nonsmooth analysis; Signal quantization; Cooperation; Quantized signal; Distributed control; Numerical convergence
• ISSN: 0005-1098; 1873-2836; 1873-2836
• DOI: 10.1016/j.automatica.2013.05.001

In this paper, cooperative control of multi-agent systems under limited communication between neighboring agents is investigated. In particular, quantized values of the relative states are used as the control parameters. By taking advantage of tools from nonsmooth analysis, explicit convergence results are derived for both uniform and logarithmic quantizers under static and time-varying communication topologies. Compared with our previous work, less conservative conditions that ensure global convergence are provided. Moreover, second order dynamical systems under similar constraints are taken into account. Computer simulations are provided to demonstrate the validity of the derived results.