Distributed event-triggered consensus of general linear multi-agent systems with quantised measurements

摘要

This studies distributed event-triggered consensus of general linear multi-agent systems subject to quantised relative state measurements, where both uniform quantisation and logarithmic quantisation are considered. First, a distributed event-triggered controller with uniform quantised relative states is proposed, where the controller of each agent is updated by properly defined event trigger function, so that bounded consensus can be achieved in finite-time and Zeno behaviour is excluded. Then, a computational method is proposed to calculate the continuous states in event trigger function. Thus, continuous communication between neighbouring agents can be avoided. The results are extended to the situation of logarithmic quantisation, and a sufficient condition is proposed to guarantee the complete consensus. Finally, a numerical example is given to verify the theoretical results.