Abstract
AbstractIn this paper, the convergence speed of consensus for a second‐order integrator with the fixed undirected graph is investigated. Additionally, the quantized information and bounded control input are applied to the system. To accelerate the convergence speed, a distributed variable adjacency matrix is proposed where the links' weight are functions defined based on the distance to the neighbors. The stability of the whole system for both of the quantized and non‐quantized consensus protocol considering a general weight function is shown using Lyapunov's direct approach. Furthermore, it is mentioned that the consensus value of the position depends on the structure of the quantizer.
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