IEEE Trans Cybern. 2017 Aug;47(8):1970-1982. doi: 10.1109/TCYB.2016.2580163. Epub 2016 Jun 21.
This paper studies the leader-following consensus problem for linear and Lipschitz nonlinear multiagent systems where the communication topology has a directed spanning tree with the leader as the root. Due to the constraints of communication bandwidth and storage space, agents can only receive uniform quantized information. We first consider the leader-following consensus problem for linear multiagent systems via quantized control. Then, in order to reduce the communication load, an event-triggered control strategy is investigated to solve the consensus problem for linear multiagent systems with uniform quantization. It is shown that leader-following practical consensus can be achieved and no Zeno behavior occurs in this case. Furthermore, the proposed control strategies are extended to investigate the leader-following consensus problem for multiagent systems with Lipschitz nonlinear dynamics. Simulation results are given to demonstrate the feasibility and effectiveness of the theoretical analysis.
本文研究了具有导向生成树的线性和 Lipschitz 非线性多智能体系统的领导者-跟随者一致性问题，其中领导者为根。由于通信带宽和存储空间的限制，智能体只能接收一致量化的信息。我们首先通过量化控制来研究线性多智能体系统的领导者-跟随者一致性问题。然后，为了降低通信负载，研究了具有一致量化的线性多智能体系统的事件触发控制策略来解决一致性问题。结果表明，在此情况下可以实现领导者-跟随者实际一致性，且不存在零活动现象。此外，所提出的控制策略还扩展到研究具有 Lipschitz 非线性动力学的多智能体系统的领导者-跟随者一致性问题。仿真结果验证了理论分析的可行性和有效性。
