Self-triggered control for multi-agent systems with quantized communication or sensing

Abstract

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.

Event-triggered communication and control of networked systems for multi-agent consensus

“…Hence, it is expected that the results shown by do not guarantee asymptotic convergence and the bounds on the state disagreement depend on the value of the initial average. Some more recent works that study further extensions such as dynamic quantization or self-triggered mechanisms are proposed in (De Persis and Frasca, 2013;Yi et al, 2016;Senejohnny et al, 2018).…”

Explicit Computation of Sampling Period in Periodic Event-Triggered Multiagent Control Under Limited Data Rate

“…Theorem 3: Consider the nonlinear MAS (25) with the control input (33), where the sampling period h is chosen from h ∈ (0,h * ). Suppose Assumptions 1-3 hold with K > 2ρ 1 /λ 2 (L).…”

Self-triggered Consensus of Multi-agent Systems with Quantized Relative State Measurements

“…Our aim is to develop a joint design method of a finite-level dynamic quantizer and a self-triggering mechanism for asymptotic consensus. We focus on the situation where relative states, not absolute states, are sampled as in [18], [21], [23], [28]- [32]. We assume that a sensor equipped in each agent has an adjustable parameter to change the maximum measurement range and the accuracy.…”

“…To achieve asymptotic consensus, we have to update the adjustable parameter of the quantizer so that relative state measurements are within the quantization range and quantization errors go to zero asymptotically. Infinite-level static quantizers have been used in the existing studies [28], [31], [32] on quantized self-triggered consensus. Hence the issue of quantizer saturation has not been addressed there.…”

“…Hence the issue of quantizer saturation has not been addressed there. In [28], infinite-level uniform quantization has been considered, and consequently only consensus to a bounded region around the average of states has been ensured. A quantized self-triggered protocol proposed in [31], [32] achieves asymptotic consensus with the help of infinite-level logarithmic quantizers, but sampling times are restricted to the form {t = kh : k is a nonnegative integer} for some h > 0, which makes it easy to exclude Zeno behaviors.…”