Consensus with quantized relative state measurements
2013 (English)In: Automatica, ISSN 0005-1098, Vol. 49, no 8, 2531-2537 p.Article in journal (Refereed) Published
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.
Place, publisher, year, edition, pages
2013. Vol. 49, no 8, 2531-2537 p.
Multi-agent systems, Quantization, Consensus, Nonsmooth Analysis
IdentifiersURN: urn:nbn:se:kth:diva-127479DOI: 10.1016/j.automatica.2013.05.001ISI: 000322562300026ScopusID: 2-s2.0-84882449583OAI: oai:DiVA.org:kth-127479DiVA: diva2:645670
FunderSwedish Research Council
QC 201309052013-09-052013-08-302013-09-05Bibliographically approved