Self‐triggered consensus of multi‐agent systems with quantized relative state measurements

Abstract

This paper addresses the consensus problem of first‐order continuous‐time multi‐agent systems over undirected graphs. Each agent samples relative state measurements in a self‐triggered fashion and transmits the sum of the measurements to its neighbours. Moreover, we use finite‐level dynamic quantizers and apply the zooming‐in technique. The proposed joint design method for quantization and self‐triggered sampling achieves asymptotic consensus, and inter‐event times are strictly positive. Sampling times are determined explicitly with iterative procedures including the computation of the Lambert W‐function. A simulation example is provided to illustrate the effectiveness of the proposed method.