Quantized Average Consensus Tracking Control Of Multi-agent Systems

Recently,the consensus control problem of multi-agent systems has attracted many scholars,and is applied in multiple application,such as unmanned formation fly,coordinated control of robots,satellite attitude synchronization etc.As a special case of consensus problem,average consensus tracking problem implies that each agent communicates with adjacent agents,and finally the state of all agents reaches the average value of all their reference inputs.In practical case,the transfer data needs to be quantized owing to the limitation of communication load and bandwidth between agents.At the same time,the transfer data is affected by the distance,and it must have a time delay inevitably.In addition,the reference input of agents may be constant or be time-varying.The paper studies the average-consensus tracking problem of multi-agent systems based on quantization,and analyzes the consensus convergence condition of multi-agent systems under time-varying reference input and time delay.The main content is as follows:(1)We investigate the average-consensus tracking problem of multi-agent system with constant reference input based on quantization,and design a proportional-integral consensus control protocol.When the topology structure is fixed,balanced and strongly connected,the quantized consensus problem is transformed into the stability problem and the necessary and sufficient conditions for the multi-agent system achieving quantized consensus are obtained by matrix analysis,and the final consensus value is the average value of reference input.(2)We focus on the average-consensus tracking problem of multi-agent system with time-varying reference input based on quantization,and design a proportional-integral consensus tracking protocol.When the topology structure is fixed,balanced and strongly connected,sufficient conditions are obtained based on the matrix analysis and Routh Criteria for the multi-agent system converging to the average value of time-varying reference input without and with quantized transmission data between agents respectively.(3)We analyze the average-consensus tracking problem of multi-agent system with time delay and time-varying reference input based on quantization,and design a proportional-integral consensus algorithm.When the topology structure is fixed,balanced and strongly connected,sufficient conditions are given based on the matrix analysis for the multi-agent system converging to the average value of time-varying reference input without and with quantized transmission data between agents respectively,and conditions are related to the communication delay.