Observer-based distributed consensus for nonlinear multi-agent systems with limited data rate  

作　　者：Jing ZHANG Shuai LIU Xianfu ZHANG 

机构地区：[1]School of Control Science and Engineering,Shandong University,Jinan,250061,China

出　　处：《Science China(Information Sciences)》2022年第9期187-201,共15页中国科学（信息科学）（英文版）

基　　金：supported by the National Natural Science Foundation of China(Grant Nos.61821004,61733010);Natural Science Foundation of Shandong Province(Grant Nos.ZR2018MF021,2019JZZY010901);Key Program of the National Natural Science Foundation of China(Grant No.62133008)。

摘　　要：In this paper,we investigate the observer-based distributed consensus problem for nonlinear multi-agent systems with a limited data rate.We assume that each agent displays strict-feedback nonlinear dynamics.An observer is constructed to estimate the system states as they cannot be directly measured.Uniform quantizers and logarithmic quantizers are considered in communication channels among agents and observer-based distributed control protocols are proposed for each agent.For the uniform quantizer,theδ-asymptotic distributed consensus,withδbeing the resolution of the quantizer,can be achieved under the proposed control protocol,i.e.,the consensus errors tend to zero asδapproaches zero.For the logarithmic quantizer,the asymptotic consensus can be achieved.The simulation results reveal the conclusion.

关 键 词：nonlinear multi-agent systems uniform quantizer logarithmic quantizer dynamic gain δ-asymptotic distributed consensus 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]