Quantized Leaderless and Leader-Following Consensus of High-Order Multi-Agent Systems With Limited Data Rate

doi:10.1109/TAC.2015.2495579

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	Quantized Leaderless and Leader-Following Consensus of High-Order Multi-Agent Systems With Limited Data Rate
	Qiu, Zhirong 1; Xie, Lihua 1; Hong, Yiguang2
	2016-09-01
发表期刊	IEEE TRANSACTIONS ON AUTOMATIC CONTROL
ISSN	0018-9286
卷号	61 期号:9 页码:2432-2447
摘要	Distributed 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.
关键词	Data rate distributed consensus high-order dynamics integrator systems multi-agent systems quantization
DOI	10.1109/TAC.2015.2495579
语种	英语
资助项目	National Research Foundation of Singapore[NRF-CRP8-2011-03] ; NNSF of China[61174071]
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic
WOS记录号	WOS:000382686800008
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/23524
专题	系统科学研究所
通讯作者	Qiu, Zhirong
作者单位	1.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
推荐引用方式 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.