Wu Jia, Li Huaqing, Han Qi, Wang Zheng
School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu 610000, PR China.
Chongqing Key Laboratory of Nonlinear Circuits and Intelligent Information Processing, College of Electronic and Information Engineering, Southwest University, Chongqing 400715, PR China.
ISA Trans. 2020 Apr;99:139-147. doi: 10.1016/j.isatra.2019.10.002. Epub 2019 Oct 18.
This paper considers the leader-following consensus problem of discrete-time nonlinear multi-agent systems over switching topologies with limited bandwidth. Through the encoding-decoding data, we design a distributed feedback control protocol which is closely associated with the connectivity of relevant channel at each time step. An adaptive communication mechanism is presented to ensure fewer bits of information transmission at each time step under the premise that the quantizer for encoding and decoding is not saturated. Although the nonlinear model over switching topologies introduces a cumulative error with respect to consensus error at previous time steps, the convergence rate of the system can be characterized. Through a rigorous convergence analysis, we illustrate that if the jointly connected condition of communication networks is satisfied, consensus issues will be resolved. A numerical simulation example shows that based on the designed distributed control law, all states of the follower agents are ultimately the same as the leader's state.
本文研究了具有有限带宽的切换拓扑离散时间非线性多智能体系统的 leader-following 一致性问题。通过编码-解码数据，我们设计了一种分布式反馈控制协议，该协议与每个时间步相关信道的连通性密切相关。提出了一种自适应通信机制，以确保在编码和解码量化器不饱和的前提下，每个时间步的信息传输位数更少。尽管切换拓扑上的非线性模型相对于前一时间步的一致性误差引入了累积误差，但系统的收敛速率是可以表征的。通过严格的收敛性分析，我们表明如果满足通信网络的联合连通条件，一致性问题将得到解决。一个数值仿真例子表明，基于所设计的分布式控制律，跟随智能体的所有状态最终都与领导者的状态相同。
