期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 61, 期 9, 页码 2432-2447出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2015.2495579
关键词
Data rate; distributed consensus; high-order dynamics; integrator systems; multi-agent systems; quantization
资金
- National Research Foundation of Singapore [NRF-CRP8-2011-03]
- NNSF of China [61174071]
Distributed consensus with limited communication data rate is an interesting and important problem and has been studied for multi-agent networks with the first order and second order integrator dynamics. However, the problem remains challenging for higher-order systems due to the complexity of consensus analysis and data rate minimization. In this paper, the leaderless and leader-following quantized consensus for a special kind of high-order systems are considered. Each agent is assumed to be controllable and observable with single input and single output, and its system matrix admits n identical eigenvalues of 1. The special case of n-th order integrator multi-agent system with only the first state variable being measurable is first investigated, and it is shown that for a fixed undirected connected network, n bits of information exchange between agents suffice to guarantee the leaderless and leader-following quantized consensus respectively with an exponential convergence rate by employing a suitable encoding-decoding scheme and perturbation analysis of matrices. The obtained results are then extended to the general case of multi-agent dynamics with n identical eigenvalues of 1 by applying the same encoding-decoding scheme and control protocol to an observer system for each agent. The final consensus value and the application to formation control are also discussed.
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