Fixed-time leader-follower quantized output consensus of high-order multi-agent systems over digraph

Abstract

This paper is concerned with fixed-time leader-follower consensus of high-order multi-agent system (MAS) under quantized communication and directed communication graph. First, dynamic encoder, quantizer and decoder are presented to encode and quantize the transmitted states at the sending end and decode the transmitted states at the receiving end. Next, a new distributed observer is proposed to estimate the leader’s states within a fixed time under quantized communication environment and directed communication graph. Practical fixed-time convergence of the proposed distributed observer is proved based on nonsmooth stability analysis. Then, a new predefined-time control scheme is developed to achieve practical predefined-time convergence of tracking error dynamics. Finally, simulation results show the validity of the strategy developed in achieving fixed-time leader-follower consensus and formation.