Group Consensus for Heterogeneous Multi-Agent Systems with Sampled and Quantized Data under Directed Communication Topology

Abstract

For a sampled-data heterogeneous multi-agent system (HMAS), this paper studies the group consensus problem under a directed topology, where the model of the HMAS is described by double integrators and single integrators. We design two group consensus protocols under different communication conditions. A sufficient condition is reported to guarantee that an HMAS can achieve group consensus asymptotically. Meanwhile, the final group consensus values of different groups are given. Furthermore, due to the bandwidth constraint existing in communication, the quantized group consensus is investigated. We also obtain a sufficient quantized group consensus condition. It is found that an HMAS can reach group consensus asymptotically under our protocol and the consensus errors almost converge to zero when the quantized errors tend to zero. Finally, this paper gives some simulation examples to show the validity of the theoretical analysis.