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Quantized Leaderless and Leader-Following Consensus of High-Order Multi-Agent Systems With Limited Data Rate
Qiu, Zhirong1; Xie, Lihua1; Hong, Yiguang2
2016-09-01
Source PublicationIEEE TRANSACTIONS ON AUTOMATIC CONTROL
ISSN0018-9286
Volume61Issue:9Pages:2432-2447
AbstractDistributed consensus with limited communication data rate is an interesting and important problem and has been studied for multi-agent networks with the first order and second order integrator dynamics. However, the problem remains challenging for higher-order systems due to the complexity of consensus analysis and data rate minimization. In this paper, the leaderless and leader-following quantized consensus for a special kind of high-order systems are considered. Each agent is assumed to be controllable and observable with single input and single output, and its system matrix admits n identical eigenvalues of 1. The special case of n-th order integrator multi-agent system with only the first state variable being measurable is first investigated, and it is shown that for a fixed undirected connected network, n bits of information exchange between agents suffice to guarantee the leaderless and leader-following quantized consensus respectively with an exponential convergence rate by employing a suitable encoding-decoding scheme and perturbation analysis of matrices. The obtained results are then extended to the general case of multi-agent dynamics with n identical eigenvalues of 1 by applying the same encoding-decoding scheme and control protocol to an observer system for each agent. The final consensus value and the application to formation control are also discussed.
KeywordData rate distributed consensus high-order dynamics integrator systems multi-agent systems quantization
DOI10.1109/TAC.2015.2495579
Language英语
Funding ProjectNational Research Foundation of Singapore[NRF-CRP8-2011-03] ; NNSF of China[61174071]
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000382686800008
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
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Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/23524
Collection系统科学研究所
Corresponding AuthorQiu, Zhirong
Affiliation1.Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore
2.Chinese Acad Sci, Inst Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Qiu, Zhirong,Xie, Lihua,Hong, Yiguang. Quantized Leaderless and Leader-Following Consensus of High-Order Multi-Agent Systems With Limited Data Rate[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL,2016,61(9):2432-2447.
APA Qiu, Zhirong,Xie, Lihua,&Hong, Yiguang.(2016).Quantized Leaderless and Leader-Following Consensus of High-Order Multi-Agent Systems With Limited Data Rate.IEEE TRANSACTIONS ON AUTOMATIC CONTROL,61(9),2432-2447.
MLA Qiu, Zhirong,et al."Quantized Leaderless and Leader-Following Consensus of High-Order Multi-Agent Systems With Limited Data Rate".IEEE TRANSACTIONS ON AUTOMATIC CONTROL 61.9(2016):2432-2447.
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