Coordinated Control of Second-Order Multi-Agent Systems With Quantized-Observer
In this paper,we consider distributed coordination of discrete-time second-order multi-agent systems with limited communication data-rate. The position of each agent is measurable,while the velocity is not. A quantized-observer based encoding-decoding scheme is proposed,which integrates the state observation with channel coding/decoding. A distributed coordinated control law is proposed based on the states and outputs of the encoders and decoders. By converting the closed-loop nonlinear system into a linear system with disturbance,suf.cient conditions on the control gains and network topology for the existence of.nite-level quantizers to ensure the closed-loop convergence are given,and it is shown that these conditions are also necessary in some sense. It is proved that,by selecting the number of quantization levels (data-rate) properly,the asymptotic synchronization of the positions and velocities can be achieved.
LI Tao XIE Lihua
Key Laboratory of Systems and Control,Academy of Mathematics and Systems Science,Chinese Academy of Nanyang Technological University,Singapore,639798
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-6
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）