Asymptotic Average Consensus of Continuous-time Multi-agent Systems with Dynamically Quantized Communication

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• 作者：Shuanghe Yu ^{shuanghe@dlmu.edu.cn" class="auth_mail" title="E-mail the corresponding author} ; Yilin Wang ; Lina Jin ; Kai Zheng
• 关键词：Multi-Agent systems ; Average Consensus ; Dynamic Quantizer ; Reduced Laplacian Matrix
• 刊名：IFAC-PapersOnLine
• 出版年：2014
• 出版时间：2014
• 年：2014
• 卷：47
• 期：3
• 页码：1819-1824
• 全文大小：736 K

文摘

This paper focuses on the consensus problem of continuous-time single-integrator and double-integrator multi-agent systems (MASs) with dynamically quantized information transmission. The connected undirected graphs are utilized to characterize the interaction topology between the agents. Dynamic quantizers are firstly introduced for a linear asymptotically stable system with a less conservative update interval. Through certainty equivalent quantized feedback controller and state transformation, the consensus problems of single-integrator and double-integrator MASs are then converted to the linear asymptotic stabilization problem, meanwhile the proposed dynamic quantization strategy is naturally applied to MAS to achieve asymptotic quantized average consensus. Finally, numerical examples are provided to illustrate the effectiveness of the theoretical results.