Distributed formation tracking control for multiagent systems with quantisation via asynchronous event-triggered mechanism

This work focuses on the formation tracking control (FTC) problem for multi-agent systems (MASs) under quantised communication and an asynchronous event-triggered strategy (ASETS). First, to flexibly schedule the communication frequency and compress the communication data transmitted on each edge among agents, an ASETS and a logarithmic quantiser are integrated into the formation tracking protocol. The problem is then transformed into ensuring asymptotic stability of the closed-loop system. Within this framework, the quantitative relationship between quantisation error and system stability is established, showing that stable formation tracking can be maintained only when the quantisation error does not exceed a certain value. Finally, simulation results reveal the efficacy of the developed control scheme. Moreover, the proposed scheme provides an effective solution to balance control performance and communication resource utilisation through a comparative studies.