Event-based multi-agent cooperative control with quantized relative state measurements
Qingchen Liu, Jiahu Qin, Changbin Brad Yu · 2016
In this paper, we develop two event-triggered controllers with quantized relative state measurements to achieve consensus for an undirected network where each agent is modelled by single integrator dynamics. Both uniform and logarithmic quantizers are considered, which, together with two different controllers, yield four cases of study in this paper. The quantized information is used to update the control input as well as to determine the next trigger event. We show that approximate consensus can be achieved by the proposed algorithms and Zeno behavior can be completely excluded if constant offsets with some computable lower bounds are added to the trigger conditions. Numerical simulations are provided to illustrate the effectiveness of each proposed algorithm.