Event‐triggered consensus of nonlinear multiagent systems with quantized communication

Abstract The problems of consensus and practical consensus for nonlinear multiagent systems (NMASs) are investigated via event‐triggered control with quantized communication in this paper. Because communication bandwidth and data storage space are limited, accurate information regarding the agents' state is not always available. Therefore, state quantizers are introduced to address this issue. On the basis of the uniform quantizer and the logarithmic quantizer, both static and dynamic event‐triggered mechanisms (SETM and DETM, respectively) are utilized to design controllers with quantized communication. Different from other logarithmic quantizers, the logarithmic quantizer used in this paper is developed on the basis of the uniform quantizer. Furthermore, sufficient criteria of achieving leader‐following consensus in NMASs over quantized communication are derived. It is shown from the theoretical results that practical consensus can be achieved under proposed control laws for the NMAS. Moreover, accurate consensus can also be achieved via the proposed control protocol with DETM and logarithmic quantized communication. Besides, Zeno behavior is proved to be nonexistent. Finally, simulation results are presented to validate effectiveness of theoretical analysis.