Quantised consensus of multi-agent systems with nonlinear dynamics |
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| Authors: | Yunru Zhu Long Wang |
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| Affiliation: | 1. Key Laboratory of Electronic Equipment Structure Design of Ministry of Education, School of Mechano-electronic Engineering, Xidian University, Xian, China;2. Center for Complex Systems, School of Mechano-electronic Engineering, Xidian University, Xi’an, China;3. Center for Systems and Control, College of Engineering, Peking University, Beijing, China |
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| Abstract: | This paper studies the consensus problem of first-order and second-order multi-agent systems with nonlinear dynamics and quantised interactions. Continuous-time and impulsive control inputs are designed for the multi-agent systems on the logarithmic quantised relative state measurements of agents, respectively. By using nonsmooth analysis tools, we get some sufficient conditions for the consensus of multi-agent systems under the continuous-time inputs. Compared with continuous-time control inputs, impulsive distributed control inputs just use the state variables of the systems at discrete-time instances. Based on impulsive control theory, we prove that the multi-agent systems can reach consensus by choosing proper control gains and impulsive intervals. The simulation results are given to verify the effectiveness of the theoretical results. |
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| Keywords: | multi-agent system consensus quantised control impulsive control |
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