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Consensus with quantized relative state measurements
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-4562-854X
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0001-7309-8086
2013 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 49, no 8, 2531-2537 p.Article in journal (Refereed) Published
Abstract [en]

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.
Keyword [en]
Multi-agent systems, Quantization, Consensus, Nonsmooth Analysis
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-127479DOI: 10.1016/j.automatica.2013.05.001ISI: 000322562300026Scopus ID: 2-s2.0-84882449583OAI: oai:DiVA.org:kth-127479DiVA: diva2:645670
Funder
Swedish Research Council
Note

QC 20130905

Available from: 2013-09-05 Created: 2013-08-30 Last updated: 2017-12-06Bibliographically approved

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Guo, MengDimarogonas, Dimos V.

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