A Unified Approach to Practical Consensus with Quantized Data and Time Delay
A Unified Approach to Practical Consensus with Quantized Data and Time Delay
复制标题
通过量化数据和时间延迟达成实际共识的统一方法
DOI：
10.1109/tcsi.2013.2244322
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发表时间：
2013-10-01
影响因子：
5.1
通讯作者：
Lu, Jianquan
中科院分区：
文献类型：
--
作者：
Li, Lulu;Ho, Daniel W. C.;Lu, Jianquan
本文研究了受通信约束的多智能体网络的一致性问题。这里考虑的是无向加权网络。本文讨论了两种类型的通信约束：1)每个智能体只能与其邻居交换量化的数据；2)每个智能体只能从邻居那里获得延迟的信息。本文的主要贡献是为具有量化和时滞的连续多智能体网络提供了一种精确的数学处理方法。首先在Filippov意义上证明了该系统的一个全局解的存在性，然后证明了该解渐近收敛于一个实际的共识集。在这里，实际共识意味着最终的共识值在一个区间内有界，而不是一个值。进一步，从理论上给出了时滞、量化参数和实际一致集之间的显式关系。最后通过数值算例验证了所得理论结果的有效性。
In this paper, we study the consensus problem of multi-agent networks subject to communication constrains. Undirected and weighted network is considered here. Two types of communication constrains are discussed in this paper: i) each agent can only exchange quantized data with its neighbors and ii) each agent can only obtain the delayed information from its neighbors. The main contribution of this paper is to provide a precise mathematical treatment for the continuous multi-agent network with quantization and time delay. The existence of a global solution to the resulting system is firstly proved in the Filippov sense and then we prove that the solution converges to a practical consensus set asymptotically. Here, practical consensus means that the final consensus values are bounded within an interval, but not a value. Further, an explicit relationship among time delay, quantization parameter and the practical consensus set are theoretically presented. Numerical examples are finally given to demonstrate the effectiveness of the obtained theoretical results.