In this paper, we consider the event-triggered distributed average-consensus of discrete-time first-order multiagent systems with limited communication data rate and general directed network topology. In the framework of digital communication network, each agent has a real-valued state but can only exchange finite-bit binary symbolic data sequence with its neighborhood agents at each time step due to the digital communication channels with energy constraints. Novel event-triggered dynamic encoder and decoder for each agent are designed, based on which a distributed control algorithm is proposed. A scheme that selects the number of channel quantization level (number of bits) at each time step is developed, under which all the quantizers in the network are never saturated. The convergence rate of consensus is explicitly characterized, which is related to the scale of network, the maximum degree of nodes, the network structure, the scaling function, the quantization interval, the initial states of agents, the control gain and the event gain. It is also found that under the designed event-triggered protocol, by selecting suitable parameters, for any directed digital network containing a spanning tree, the distributed average consensus can be always achieved with an exponential convergence rate based on merely one bit information exchange between each pair of adjacent agents at each time step. Two simulation examples are provided to illustrate the feasibility of presented protocol and the correctness of the theoretical results.
This paper considers the consensus problem of digital multi-agent networks by employing dynamic encode/decode technology and distributed event-triggered control strategy. In this paper, a novel integrated communication framework employing dynamic encode/decode technology and event-triggered control strategy is designed to describe the communication process in digital channels. According to this framework, a specific communication algorithm is provided in integrated communication environment. A distributed event-triggered condition that only depends on the local information of network agents is developed, and the relevant consensus analysis is given to explain the sufficiency and reasonability. Furthermore, a onebit quantized scheme is proposed concomitantly, from which it is shown that the global consensus can still be reached though the number of bits that are responsible for information exchange between agents at each quantized transmission is only one bit. Finally, simulation results are given to verify the effectiveness of proposed approach and the correctness of theoretical results.
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