Distributed bipartite tracking consensus of nonlinear multi-agent systems with quantized communication

Abstract

This paper mainly tends to address distributed bipartite tracking consensus problem for nonlinear multi-agent systems subject to logarithmic quantization. Based on appropriate quantized criterion, a distributed protocol with static coupling gain is developed. By employing Lyapunov technique and other mathematical analysis, the results show that distributed bipartite tracking consensus of multi-agent systems can be ensured with quantized relative state measurements, if some conditions are met. Additionally, compared with distributed protocol, the fully distributed protocol with dynamic coupling gain is further designed and analyzed via adaptive control, which is independent of any global information. Finally, simulations are exploited to support our theoretical analysis.