Self-Triggered Control for Multi-Agent Systems with Quantized Communication or Sensing

TL;DR

This paper introduces self-triggered control strategies for multi-agent systems with quantized communication, achieving exponential consensus while reducing communication frequency, supported by theoretical proofs and simulations.

Contribution

It proposes novel centralized and distributed self-triggered rules that ensure exponential consensus under quantization and network conditions.

Findings

Self-triggered rules guarantee exponential consensus.

The methods reduce communication and updates.

Numerical simulations confirm theoretical results.

Abstract

The consensus problem for multi-agent systems with quantized communication or sensing is considered. Centralized and distributed self-triggered rules are proposed to reduce the overall need of communication and system updates. It is proved that these self-triggered rules realize consensus exponentially if the network topologies have a spanning tree and the quantization function is uniform. Numerical simulations are provided to show the effectiveness of the theoretical results.