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Leader-Following Consensus for Linear and Lipschitz Nonlinear Multiagent Systems With Quantized Communication.

Zhiqiang Zhang, Lin Zhang, Fei Hao

IEEE Transactions on Cybernetics

|June 24, 2016

Summary

This study addresses leader-following consensus in multiagent systems using quantized control and event-triggered strategies. It achieves practical consensus for linear and nonlinear systems without Zeno behavior.

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Area of Science:

Control Theory
Networked Systems
Robotics

Background:

Leader-following consensus is crucial for coordinated multiagent systems.
Communication constraints like quantization necessitate advanced control techniques.
Directed spanning tree topologies are common in distributed systems.

Purpose of the Study:

To investigate leader-following consensus for linear and Lipschitz nonlinear multiagent systems under quantized information.
To develop and analyze event-triggered control strategies to reduce communication load.
To ensure practical consensus and prevent Zeno behavior.

Main Methods:

Quantized control for linear multiagent systems.
Event-triggered control with uniform quantization for linear systems.
Extension of strategies to Lipschitz nonlinear multiagent systems.

Main Results:

Leader-following practical consensus is achieved for both linear and nonlinear systems.
The event-triggered strategy effectively reduces communication load.
Absence of Zeno behavior is proven for the event-triggered approach.

Conclusions:

The proposed quantized and event-triggered control strategies are effective for leader-following consensus.
These methods address communication constraints in multiagent systems.
Simulation results validate the theoretical findings.