Abstract
This paper solves the leader-following consensus problem for a class of second-order multi-agent systems with input quantized by a newly proposed adaptive dynamic quantizer. The novel dynamic quantizer is an adaptive quantizer that combines the logarithmic quantizer and the uniform quantizer by introducing dynamic gain parameters to achieve quantizer adaptive adjustment. It has advantages of logarithmic, uniform, and adaptive dynamic quantizers in ensuring reducible communication expenses and acceptable quantizer errors for better system performance. On this basis, we transform the guide way climbing frame (GWCF) under ideal conditions into a second-order multi-agent system and solve the motion synchronization problem of GWCF. Finally, we illustrate our approach by numerical examples.
Highlights
IntroductionBecause of cooperative control widespread potential applications in various fields such as synchronized rise of guide way climbing frame (GWCF), formation control of mobile robots, distributed coordination of multiple dynamic systems ( known as multi-agent systems [1,2,3,4,5,6]), has achieved rapid development in recent decades
Because of cooperative control widespread potential applications in various fields such as synchronized rise of guide way climbing frame (GWCF), formation control of mobile robots, distributed coordination of multiple dynamic systems, has achieved rapid development in recent decades
The follower input is quantized by a dynamic quantizer in a second-order integrator multi-agent systems, and the leader-following consensus problem with limited communication bandwidth is solved by a distributed control law
Summary
Because of cooperative control widespread potential applications in various fields such as synchronized rise of guide way climbing frame (GWCF), formation control of mobile robots, distributed coordination of multiple dynamic systems ( known as multi-agent systems [1,2,3,4,5,6]), has achieved rapid development in recent decades. Input are quantized by the newly proposed adaptive dynamic quantizer, which solve the problem leader-following consensus with limited communication bandwidth. We first introduce self-proposed adaptive dynamic quantizer which has dynamic quantization interval, limited quantization level and smaller quantization error compared with the logarithmic quantizer, uniform quantizer and dynamic uniform quantizer On this basis, the follower input is quantized by a dynamic quantizer in a second-order integrator multi-agent systems, and the leader-following consensus problem with limited communication bandwidth is solved by a distributed control law. In this paper, using second-order systems and having a leader, the problem of leader-following consensus of multi-agent systems is realized by using the adaptive dynamic quantizer proposed by ourselves. The second-order multi-agent system will realize synchronous lifting of GWCF under the distributed control law whose input is quantized by the novel adaptive dynamic quantizer. Some proofs are attached in the Appendix A
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